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Document MT0605P.E

MTi User Manual

4.2

OORDINATE SYSTEMS

...................................................................................................................... 25

4.2.1

Calibrated inertial data and magnetic field data

................................................................... 25

4.2.2

Delta_angle and delta_velocity

............................................................................................ 25

4.2.3

Orientation data

................................................................................................................. 26

4.2.4

Velocity data

...................................................................................................................... 27

4.2.5

Position data

...................................................................................................................... 27

4.3

RIENTATION PERFORMANCE SPECIFICATION

........................................................................................... 30

4.4

OSITION AND VELOCITY PERFORMANCE SPECIFICATION

(MT

-G-700)

............................................................ 31

4.5

RIENTATION OUTPUT MODES

............................................................................................................. 31

4.5.1

Quaternion orientation output mode

................................................................................... 32

4.5.2

Euler angles orientation output mode

.................................................................................. 33

4.5.3

Rotation Matrix orientation output mode

............................................................................. 33

4.6

ENSOR DATA PERFORMANCE SPECIFICATION

........................................................................................... 35

4.6.1

Gyroscopes

........................................................................................................................ 35

4.6.2

Accelerometers and magnetometer

..................................................................................... 36

4.6.3

Y zBarometer

..................................................................................................................... 36

4.6.4

GPS receiver

....................................................................................................................... 37

4.7

UILT

IN SELF

TEST

.......................................................................................................................... 38

4.8

EST AND

ALIBRATION

ERTIFICATE

..................................................................................................... 39

4.9

ENSORS DATA OUTPUTS

.................................................................................................................... 40

4.9.1

Physical sensor model

......................................................................................................... 40

4.9.2

Calibrated delta_q and delta_v outputs

................................................................................ 41

4.9.3

Calibrated inertial and magnetic data outputs

...................................................................... 41

4.9.4

Free acceleration

................................................................................................................ 41

4.9.5

Uncalibrated raw output mode

............................................................................................ 42

4.10

EGACY OUTPUT MESSAGES

................................................................................................................ 43

4.11

ESET OF OUTPUT OR REFERENCE CO

ORDINATE SYSTEMS

............................................................................ 44

4.12

IMESTAMP AND PACKET COUNTER OUTPUT

............................................................................................ 47

4.12.1

Packet counter

................................................................................................................... 47

4.12.2

Time UTC

........................................................................................................................... 47

4.12.3

Time stamp (Sample Time Fine)

........................................................................................... 47

4.12.4

Setting UTC time on non-GPS MTi’s

...................................................................................... 47

4.13

TATUS BYTE

.................................................................................................................................. 48

BASIC COMMUNICATION

................................................................................................................ 50

5.1

NTRODUCTION

............................................................................................................................... 50

5.2

TATES

......................................................................................................................................... 50

5.3

ESSAGES

.................................................................................................................................... 51

5.3.1

Message structure

.............................................................................................................. 51

5.3.2

Message usage

.................................................................................................................. 52

5.3.3

Common messages

............................................................................................................. 53

5.4

OMMUNICATION

IMING

................................................................................................................. 54

5.5

RIGGERING AND SYNCHRONIZATION

..................................................................................................... 57

5.5.1

External device triggers MTi (Send Latest)

............................................................................ 57

5.5.2

Marker in MT data (Trigger Indication)

................................................................................ 57

5.5.3

MTi triggers external devices (Interval Transition Measurement)

........................................... 58

5.5.4

Clock synchronization (Clock Bias Estimation)

....................................................................... 59

5.5.4.1

Clock Bias Estimation from GPS

........................................................................................... 59

5.5.5

StartSampling

.................................................................................................................... 59

5.5.6

Combining synchronization functions

................................................................................... 60

Содержание MTi-10 IMU

Страница 1: ...31 0 88 973 67 00 fax 31 0 88 973 67 01 e mail info xsens com internet www xsens com 10557 Jefferson Blvd Suite C CA 90232 Culver City USA phone 310 481 1800 fax 310 416 9044 e mail info xsens com internet www xsens com Document MT0605P Revision E 17 January 2014 MTi 10 series and MTi 100 series MTi User Manual ...

Страница 2: ...14 MHA Added product code 3V3 and remark on termination resistor 2005 2014 Xsens Technologies B V All rights reserved Information in this document is subject to change without notice Xsens MVN MotionGrid MTi MTi G MTx MTw Awinda and KiC are registered trademarks or trademarks of Xsens Technologies B V and or its parent subsidiaries and or affiliates in The Netherlands the USA and or other countrie...

Страница 3: ...Started with the MT Manager 11 2 6 3 Using the Software Development Kit SDK 12 2 6 4 Direct low level communication with MTi 14 2 6 5 Migration from MT SDK 3 3 CMT 14 2 6 6 Terms of use MT Software Suite 15 3 MTI SYSTEM OVERVIEW 16 3 1 CALIBRATION 16 3 2 XSENS KALMAN FILTER XKF3I FOR MTI 10 SERIES 16 3 2 1 Using the acceleration of gravity to stabilize inclination roll pitch 16 3 2 2 Using the Ear...

Страница 4: ...or model 40 4 9 2 Calibrated delta_q and delta_v outputs 41 4 9 3 Calibrated inertial and magnetic data outputs 41 4 9 4 Free acceleration 41 4 9 5 Uncalibrated raw output mode 42 4 10 LEGACY OUTPUT MESSAGES 43 4 11 RESET OF OUTPUT OR REFERENCE CO ORDINATE SYSTEMS 44 4 12 TIMESTAMP AND PACKET COUNTER OUTPUT 47 4 12 1 Packet counter 47 4 12 2 Time UTC 47 4 12 3 Time stamp Sample Time Fine 47 4 12 4...

Страница 5: ...view 65 6 3 2 OEM connections overview 67 6 3 3 Additional interface specifications 69 6 3 4 Using the MTi MkIV with an external USB converter 70 6 4 HOUSING MECHANICAL SPECIFICATIONS 71 6 4 1 Environmental protection of the housing 71 6 4 2 Dimensions MTi 71 6 4 3 Mounting the MTi OEM 71 6 4 4 MTi 10 series technical drawing 72 6 4 5 MTi 100 200 300 technical drawing 73 6 4 6 MTi G 700 technical ...

Страница 6: ...ce id Document description LLCP MT Low Level Communication Protocol Documentation pdf document ID MT0101P MTM MT Manager User Manual pdf document ID MT0216P XDA_DOC XDA doxygen HTML documentation Found in Xsens folder structure MTI_TD MTi Technical Datasheet pdf document ID MT0503P ...

Страница 7: ...e they differ is clearly indicated All products are designed to be interchangeable from a mechanical and software interface point of view 2 1 MTi 10 series The MTi 10 series is the basic product range of the MTi product portfolio offering inertial data and orientation data at an affordable price The MTi 10 series consists of 3 products that have various integration levels The MTi 10 series can eas...

Страница 8: ...entation it can also output AHRS augmented 3D position and velocity so that velocity and position accuracy significantly improve with respect to the accuracy of the GPS receiver alone Furthermore it provides 3D sensors data such as acceleration rate of turn magnetic field the navigation solution of the GPS receiver and static pressure Data generated from the strapdown integration algorithm orienta...

Страница 9: ...h device these four digits have a hexadecimal format Below is a list of the products and interfaced with their corresponding products Product RS232 USB RS422 RS485 USB MTi 10 IMU 0160xxxx 0161xxxx 0163xxxx MTi 20 VRU 0260xxxx 0261xxxx 0263xxxx MTi 30 AHRS 0360xxxx 0361xxxx 0363xxxx MTi 100 IMU 0170xxxx 0171xxxx 0173xxxx MTi 200 VRU 0270xxxx 0271xxxx 0273xxxx MTi 300 AHRS 0370xxxx 0371xxxx 0373xxxx...

Страница 10: ...re in the form of MTi 28A53G35 Introduced 2005 Available at least till Dec 2013 Legacy MTi OEM The OEM board of the legacy MTi The board is green contrary to orange MTi 10s and MTi 100s OEM board Introduced 2006 Available at least till Dec 2013 Legacy MTx Designed as a Motion Tracker for human movements this low weight Motion Tracker has a fully plastic casing Product codes are in the form of MTx ...

Страница 11: ...oftware Suite on USB Flash Drive o MT Low level communication Documentation PDF MT0101P o Quick Setup PDF o MT Software Suite Xsens MTi USB driver MT Manager MT Software Development Kit MT SDK XsensDeviceApi DLL 32 bit and 64 bit o DLL C and C interface o COM interface XDA public source files C C wrapper Example source code and examples o MATLAB DLL example supported from MATLAB 2010b o C DLL exam...

Страница 12: ...mended that the MTi is mechanically isolated from vibrations as much as possible since vibrations are measured directly by the accelerometers the following two conditions can make the readings from the accelerometers invalid 1 The magnitude of the vibration is larger than the measurement range of the accelerometer This will cause the accelerometer to saturate which may be observed as a drift in th...

Страница 13: ...uss1 the object In most cases when the disturbance of the magnetic field caused by placement of the MTi on a ferromagnetic object can be corrected for using a specialized calibration procedure commonly known as a hard and soft iron calibration The calibration procedure MTi 30 MTi 300 and MTi G 700 only can be executed in a few minutes and yields a new set of calibration parameters that can be writ...

Страница 14: ...s with GUIs are shown Firmware Updater Magnetic Field Mapper and MT Manager These programs offer the possibility to configure the MTi in a very easy way The MT Manager also can be used to communicate with the MTi The MT SDK contains all the developer code such as a DLL a shared object for x86 computers and basic functionality in C source code for embedded systems Of course it is possible to use lo...

Страница 15: ...level communication and XDA communication via message terminals export log files to ASCII and KML KMZ change and view various device settings and properties reprocess pre recorded data e g with different settings The MT Manager is therefore an easy way to get to know and to demonstrate the capabilities of the MTi and to configure the device easily to suit your needs With the MT Manager it is possi...

Страница 16: ...such as C Java and Python Since C is a more convenient language to use for first time users of the MT SDK lower risk of making mistakes easier to handle complex functions Xsens also supplies a C wrapper around the C compiled library Depicted on the right is a schematic overview of the MT SDK As can be seen the host application developer can choose to use a COM C C or C interface However only the C...

Страница 17: ...iceIDs can be found in section 2 2 5 Exposing all the possible functionalities has the advantage that when changing the MTi in the application to a device with other functionalities the majority of the code can remain unchanged Internally the Xsens host software is implemented using an object oriented approach in which the functionality is only implemented in subclasses see schematic below It is i...

Страница 18: ... C interface but uses the class name as a function prefix ie XsControl_openPort instead of XsControl openPort Preallocation of buffers is often required XDA managed safe interface objects are passed between the library and the application Library functions are plain functions using an instance number and DeviceID for device identification Library functions and structures are available as C classes...

Страница 19: ...o read and accept In the following table the guidelines for use of each component are described Component EULA SLA Guidelines MT Manager EULA For use with Xsens products only Not allowed to re distribute Not allowed to reverse engineer Not allowed to modify Serial key required MT SDK SLA For use with Xsens products only Allowed to re distribute as is or embed in programs Not allowed to reverse eng...

Страница 20: ...of drift compensation is often called attitude and heading referencing and such a system is referred to as an Attitude and Heading Reference System AHRS 3 2 1 Using the acceleration of gravity to stabilize inclination roll pitch XKF3i stabilizes the inclination i e roll and pitch combined using the accelerometer signals An accelerometer measures gravitational acceleration plus acceleration due to ...

Страница 21: ...it would not be secured to an object containing ferromagnetic materials 3 2 3 Initialization The XKF3i algorithm not only computes orientation but also keeps track of variables such as sensor biases or properties of the local magnetic field magnetic field MTi 30 AHRS only For this reason the orientation output may need some time to stabilize once the MTi is put into measurement mode Time to obtain...

Страница 22: ...ibutes etc The low mag_dep filter profile assumes that the dynamics is relatively low and that there are long lasting external magnetic distortions Also use this filter profile when it is difficult to do a very good Magnetic Field Mapping MFM The use of the low_mag_dep filter profile can be useful to limit drift in heading whilst not being in a homogenous magnetic field Typical applications are la...

Страница 23: ...discarding magnetometer updates when the magnetic field is distorted Because of the superior gyroscopes in the MTi 100 series the heading will be drifting at a relatively low rate 3 3 4 Loss of GPS When the MTi G 700 GPS INS has limited mediocre GPS reception or even no GPS reception at all the MTi G 700 sensor fusion algorithm seamlessly adjusts the filter settings in such a way that the highest ...

Страница 24: ...ar the venting holes in the MTi G will lower the barometric pressure and thus make height estimations inaccurate you can use this filter profile when the MTi G is mounted in such airflow The GeneralMag filter profile bases it yaw mainly on magnetic heading together with comparison of GPS acceleration and the accelerometers Although this combination makes the yaw more robust than magnetic field alo...

Страница 25: ...onomic constraint updates The user is advised to make use of this filter profile for robust performance in deteriorated GPS conditions Using the Automotive filter profile instead of AutomotiveUrbanCanyon in applications where GPS conditions are deteriorated can result in long position outages Every application is different and although example applications are listed above results may vary from se...

Страница 26: ...sible to select a different output frequency and or output format e g float or double per output or group of outputs A full overview of outputs can be found section 4 1 Performance specifications on orientation position and sensor data can be found in section 4 3 Before going into these sections it is useful to read section 4 1 2 which explains the various coordinate systems and position represent...

Страница 27: ... Time Coarse XDI_SampleTimeCoarse 1070 Frame Range XDI_FrameRange 1080 Orientation Data XDI_OrientationGroup 20xy 400 Hz Quaternion XDI_Quaternion 201y Rotation Matrix XDI_RotationMatrix 202y Euler Angles XDI_EulerAngles 203y Pressure XDI_PressureGroup 30xy 50 Hz Baro Pressure XDI_BaroPressure 301y Acceleration XDI_AccelerationGroup 40xy 2000 Hz Delta V XDI_DeltaV 401y Acceleration XDI_Acceleratio...

Страница 28: ...p E0x0 2000 Hz Status Byte XDI_StatusByte E010 Status Word XDI_StatusWord E020 RSSI XDI_Rssi E040 x The hex value of the Type bits y The hex value of the Format bits float fixed point coordinate system See the LLCP for more information 4 1 2 NMEA protocol The MTi also supports a variety of strings in NMEA protocol Below is a list of the various strings that can be outputted by the MTi Bit String T...

Страница 29: ...t points are designed in the base plate of the MTi The non orthogonality between the axes of the body fixed co ordinate system S is 0 05 This also means that the output of 3D linear acceleration 3D rate of turn gyro and 3D magnetic field data all will have orthogonal xyz readings within 0 05 as defined in the figure above It is possible to rotate the sensor coordinate system to an object coordinat...

Страница 30: ...ight hand rule Based on the definition of heading and yaw consider the use of the MTi in an aircraft which is stationary and pointing north Below a table is displayed that shows the heading and yaw outputs for the three reference coordinate system available with MTi Reference coordinate system Direction of mounting aircraft pointing North Heading value not outputted by MTi Yaw value East North Up ...

Страница 31: ...put Altitude is outputted in WGS84 datum DataID 0x5020 Position data from the navigation solution from the GPS receiver DataID 0x8840 is represented in Earth Centered Earth Fixed ECEF 4 2 5 1 Linearization errors and relation WGS84 and LTP The following section describes in more detail the linearization errors made and other artefacts introduced when using global coordinate systems It also describ...

Страница 32: ...rate fast The MTi G uses the default WGS84 model and not a specific datum Earth Centered Earth Fixed ECEF WGS 84 parameters a 6 378 317 meter b 6 356 752 meter Figure 5 Earth Centered Earth Fixed Coordinate System Spherical coordinates LLA λ longitude φ latitude h altitude Figure 6 Definition of Ellipsoidal Coordinates Latitude Longitude Altitude in WGS 84 Ellipsoid In order to combine the output ...

Страница 33: ...ude longitude pair ref ref The height is the same for both coordinate systems 𝐸 𝑅 𝜑 cos 𝜃 𝑁 𝑅 𝜃 Where R is the radius of Earth at a given latitude 𝜃 𝜃 𝜃𝑟𝑒𝑓 𝜑 𝜑 𝜑𝑟𝑒𝑓 In this documentation we will refer to the WGS84 co ordinates system as G The output of position data from the MTi G is in Ellipsoidal Coordinates Latitude Longitude Altitude in the WGS84 Ellipsoid The MTi G uses HE Height over Ellipso...

Страница 34: ... to select the correct filter profile If you are uncertain do not hesitate to contact Xsens or your local distributor Magnetic distortions In several filter profiles the on board 3D magnetometer is used to observe the heading It is assumed that a magnetic field mapping is performed and that the magnetometers are not distorted by nearby ferromagnetic materials in the environment Long lasting accele...

Страница 35: ...e height accuracy may reduce with very rapid changes in atmospheric pressure that could occur in e g severe thunderstorms 4 4 Position and velocity performance specification MTi G 700 The MTi G 700 has the ability to output position The performance highly depends on the GPS availability placement of the GPS antenna etc The table below states the position and velocity accuracy according to Xsens re...

Страница 36: ...I MT Manager User Manual 4 5 1 Quaternion orientation output mode A unit quaternion vector can be interpreted to represents a rotation about a unit vector n through an angle α 𝑞𝐿𝑆 cos 𝛼 2 𝒏 sin 𝛼 2 A unit quaternion itself has unit magnitude and can be written in the following vector format 𝑞𝐿𝑆 𝑞0 𝑞1 𝑞2 𝑞3 𝑞 1 Quaternions are an efficient non singular description of 3D orientation and a quaternion...

Страница 37: ... is a mathematical singularity when the sensor fixed x axis is pointing up or down in the L co ordinate system i e pitch approaches 90 This singularity is not present in the quaternion or direction cosine matrix rotation matrix representation Quaternion and rotation matrix output modes can be used to access these orientation representations respectively The Euler angles can be interpreted in terms...

Страница 38: ...f Euler angles 𝑅𝐿𝑆 𝑅ѱ 𝑍 𝑅𝜃 𝑌 𝑅𝜑 𝑋 cos ѱ sin ѱ 0 sin ѱ cos ѱ 0 0 0 1 cos 𝜃 0 sin 𝜃 0 1 0 sin 𝜃 0 cos 𝜃 1 0 0 0 cos 𝜑 sin 𝜑 0 sin 𝜑 cos 𝜑 cos θ cos ѱ sin 𝜑 sin 𝜃 cos ѱ 𝑐𝑜𝑠𝜑 sin ѱ cos 𝜑 sin 𝜃 cos ѱ sin 𝜑 sin ѱ cos θ sin ѱ sin 𝜑 sin 𝜃 sin ѱ 𝑐𝑜𝑠𝜑 cos ѱ cos 𝜑 sin 𝜃 sin ѱ sin 𝜑 cos ѱ sin 𝜃 sin 𝜑 cos 𝜃 cos 𝜑 cos 𝜃 As defined here RLS rotates a vector in the sensor co ordinate system S to the global refere...

Страница 39: ...different specifications are listed below A full range of 1000 º s is available upon request Gyroscopes in MTi 10 series MTi 10 MTi 20 MTi 30 Gyroscopes in MTi 100 series MTi 100 MTi 200 MTi 300 MTi G 700 Gyroscope specification MTi 10 series MTi 100 series Rate of turn Typical Max Typical Max Standard full range deg s 450 450 Bias repeatability 1 yr deg s 0 2 0 5 0 2 0 5 In run bias stability deg...

Страница 40: ...ndard full range m s2 50 Bias repeatability 1 yr m s2 0 03 0 05 In run bias stability µg 40 Bandwidth 3dB Hz 375 N A Noise density µg Hz 80 150 Non orthogonality deg 0 05 0 05 Non linearity FS 0 03 0 5 A D resolution bits 16 N A Magnetic field Full range µT 80 Noise density µGauss Hz 200 Non linearity FS 0 1 A D resolution bits 12 N A 4 6 3 Barometer The barometer features barometric atmospheric p...

Страница 41: ...100 series Receiver Type 50 channels GPS L1 C A code Datum reference frame WGS84 ITRF2004 GPS Update Rate 4 Hz Horizontal Accuracy Position SPS 2 5 m CEP SBAS 2 0 m CEP Vertical Accuracy Position SPS 5 m Velocity accuracy 0 1 m s 30 m s Start up Time Cold start 27 s Re acquisition 1 s Tracking Sensitivity 161 dBm Timing Accuracy 30 ns RMS Maximum Altitude 18 km Maximum Velocity 515 m s Max dynamic...

Страница 42: ...around the component which will generate an offset in the signal During self test the MTi will read out all sensors and in case of a successful self test a known offset with respect to the signal prior to enabling self test should be visible in the data The MTi will internally evaluate the sensors readings the self test will return the status of the self test per individual sensor The status is st...

Страница 43: ...non to a digital output in an orthogonal coordinate system Gains bits Gains or scale factor describe the relation between the digital reading in bits and the measured physical signal Offsets bits Digital reading in bits of the sensor when no physical signal is measured Alignment matrix Non orthogonality of the sensor triade This includes non orthogonality in the orientation of the sensitive system...

Страница 44: ...om the 16 bit ADC s from the sensors to the respective physical quantity s The gain matrix is split into a misalignment matrix A and a gain matrix G The misalignment specifies the direction of the sensitive axes with respect to the ribs of the sensor fixed coordinate system S housing E g the first accelerometer misalignment matrix element a1 x describes the sensitive direction of the accelerometer...

Страница 45: ...find the total orientation change over a specific period Note that this data is not drift free as it has not been processed by the sensor fusion filters Use the orientation output for drift free orientation 4 9 3 Calibrated inertial and magnetic data outputs Output of calibrated 3D linear acceleration 3D rate of turn gyro and 3D magnetic field data is in sensor fixed coordinate system S or O The u...

Страница 46: ... readout the following outputs are available Sensor Digital analog Unit Maximum frequency Gyroscopes Analog sensor 16 bit ADC 2 byte integer 2000 Hz Accelerometers Analog sensor 16 bit ADC 2 byte integer 2000 Hz Magnetometer Digital sensor a u 100 Hz Barometer Digital sensor Pa 50 Hz Temperature sensors Analog sensor 12 bit ADC ºC 1 Hz Note that these SCR values of the gyroscopes and accelerometer...

Страница 47: ... on legacy classes and source code Note that it is only possible to use the MTi in legacy mode when data is processed onboard the MTi It is not possible to process raw data 16 bit binary data with legacy source code into orientation position or dynamic data All outputs are only available at frequencies that can be are integer divisions of 400 Hz 400 Hz 200 Hz 100 Hz 80 Hz etc The following outputs...

Страница 48: ...also known as bore sighting 3 A combined inclination heading reset referred to as alignment reset 4 Setting an arbitrary alignment rotation matrix to rotate S to the chosen frame S SS R 5 Setting an arbitrary alignment rotation matrix to rotate L to the chosen frame L L LR The different orientation resets are explained using Figure 10 showing a side and top view of each of the resets with the stan...

Страница 49: ...nate frame S left strapped to an object and local frame L The different alignments and resets define the S and or L frame a the default orientation output of S with respect to L LSR b after inclination reset method 1 LS R c after heading reset method 2 L SR d after alignment reset method 3 L S R All of these are also possible to set with arbitrary alignments NWU and NED reference coordinate frames...

Страница 50: ...L the alignment matrices can be set with an arbitrary but known orientation This can be useful if for mechanical reasons the MT can only be fastened in some specific orientation The alignment matrices L LR or SS R are applied to the output data according to the equations above Refer to the MT Manager User Manual on how to use these alignment matrices The different orientation resets can be summari...

Страница 51: ...cond range 0 1 000 000 000 4 Year range 1999 2099 6 Month range 1 12 7 Day of Month range 1 31 8 Hour of Day range 0 23 9 Minute of Hour range 0 59 10 Seconds of Minute range 0 59 11 0x01 Valid Time of Week 0x02 Valid Week Number 0x04 Valid UTC When outputted the Time UTC starts as following At 0 0 sec unless A time is available in the non volatile memory unless GPS time is available MTi G 700 onl...

Страница 52: ...f the GPS unit has a proper fix The flag is only available in MTi G units 3 4 NoRotationUpdate Status only available for legacy devices This flag indicates the status of the no rotation update procedure in the filter after the SetNoRotation message has been sent 11 Running with no rotation assumption 10 Error Rotation detected procedure not started sticky 01 Estimation complete some samples reject...

Страница 53: ...In Marker When a SyncIn is detected this bit will rise to 1 22 SyncOut Marker When SyncOut is active this bit will rise to 1 23 25 Filter mode Indicates the filter mode only available for MTi G 700 000 Without GPS filter profile is in VRU mode except GeneralMag filter profile that continues to use magnetometers 001 Coasting mode GPS has been lost 60 sec ago 011 With GPS default mode of MTi G 700 2...

Страница 54: ... settings can be read and written In the Measurement State the device will output its data message which contains data dependent on the current configuration There are two different ways to enter the Config State or the Measurement State At power up the device starts the WakeUp procedure if no action is taken it will then enter Measurement State by default using its latest stored configuration Pri...

Страница 55: ...the DATA field Value 255 0xFF is reserved This means that a message has a maximum payload of 254 bytes If Length is zero no data field exists Data DATA This field contains the data bytes and it has a variable length which is specified in the Length field The interpretation of the data bytes are message specific i e depending on the MID value the meaning of the data bytes is different See the descr...

Страница 56: ...of the acknowledgement is increased by one in comparison with the sending message ReqDID Some messages have the same MID and depending on whether or not the message contains the data field the meaning differs This is the case with all the messages that refer to changeable settings For example the MID of message requesting the output mode ReqOutputMode is the same as the message that sets the outpu...

Страница 57: ...uency The response message contains a list with the same format but with the values actually used by the device Each entry in the list contains Offset Value 0 Data Identifier 2 bytes 2 Output Frequency 2 bytes A full list of all Data Identifiers can be found in the MT Low Level Communication Protocol documentation under SetOutputConfiguration GoToMeasurement MID 16 0x10 Data field n a Direction To...

Страница 58: ... packet can be skipped using its Size field It allows for more optimal bandwidth usage and simplifies keeping future devices and or software backwards compatible In the MT Low Level Communication Protocol documentation format descriptions of all data packets are described 5 4 Communication Timing For many applications it can be crucial to know exactly the various delays and latencies in a system I...

Страница 59: ...be discussed using the example of two common output configurations of the MTi The bytes in the message consist of the Preamble BusID MessageID length indicator data itself and the checksum The Preamble BusID MesssageID length indicator and checksum together is always 5 bytes The length of the various data messages is discussed in LLCP Example 1 Euler angels orientation data at 400 Hz and SDI data ...

Страница 60: ...SB communication timing When the MTi is used with the USB cable much of the timing depends on the scheduling of the host e g Windows as the host needs to poll data from the USB devices For real time interfaces a serial interface RS232 RS422 or RS485 is recommended ...

Страница 61: ...ed In this example a clock generator triggers device A and an MTi ensuring that the two devices are synchronized with each other The output of the clock generator can be directly connected to the MTi NOTE Always check if the SyncIn specification matches with the trigger signal Once a SyncIn signal or a ReqData message is received the MTi will output the latest available data It is possible to dela...

Страница 62: ...so on The data output e g orientation and frequency is irrelevant for the functionality of Interval Transition Measurement A SyncOut marker is outputted in the data stream that shows the exact time of the transmission of the SyncOut pulse The signal can be set to either pulse or toggle mode and in case of pulse mode the polarity can be set to negative or positive For more information about enablin...

Страница 63: ...these two options are not possible the Clock Sync is an alternative Specification Value MTi s internal clock accuracy 10 ppm Input frequency 0 1 1000 Hz Maximum deviation from MTi s internal clock 900 ppm Initialisation time per ppm difference between internal clock and external clock 0 72 ms ppm 5 5 4 1 Clock Bias Estimation from GPS The MTi G 700 GPS INS uses the clock bias estimation function t...

Страница 64: ...needs 0 2 seconds to make a picture In this example you could use the GPS pulse to synchronize the clock of the MTi with the GPS clock use Clock Bias Estimation but you also need to know the timing difference between the GPS and MTi so connect the 1 PPS to Trigger Indication as well the 1 PPS trigger will be inside the MT Data2 packet If you need orientation at a different rate than the camera ima...

Страница 65: ...the GPS receiver module in the MTi G The cable delay is 5 5ns m for PFTE resulting in 16 5ns delay with the development kit antenna PCTel 3910D Quantisation loss clock of 23 104MHz results in a resolution of 43ns Rise time of Timepulse 7 25ns best results when loaded with a high impedance Software delay for handling the time pulse interrupt clock_ticks 300Mhz The first point is compensated in the ...

Страница 66: ...4 bytes 9 81 decimal 0x411CF5C3 hexadecimal Transmission order of bytes 0x41 0x1C 0xF5 0xC3 The bit order in a byte is always MSB LSB bit 7 bit 0 5 7 2 Serial or USB communication The MTi has a parallel serial RS232 RS422 RS485 or alternative UART and USB interface However it is not possible to have communication on both the serial and USB interfaces simultaneously Therefore the MTi wakes up as a ...

Страница 67: ...55g cased 11g OEM 55g cased 11g OEM 58g cased 11g OEM 6 2 Power supply The nominal power supply of the MTi is 5V DC The minimum operating supply voltage is 4 5V for the external connector and the absolute maximum is 40V The sensor works at a power supply of 4 5 34V Use only SELV Separated or Safety extra low voltage power supplies double isolated that are short circuit proof The average operating ...

Страница 68: ...available there are constraints on the power usage 3V3 reduces the power usage with 20 The hardware of the MTi is designed in such a way that power is automatically drawn from either the standard VCC 4 5 34V or the alternative 3V3 power When there is a voltage applied both to the standard VCC and the alternative 3V3 the MTi will not start up and may be damaged Refer to section 6 3 for the pin conf...

Страница 69: ...n be used to connect the MTi to any USB port except for MTi s with an RS422 interface The cable with product code CA MP MTi allows access to all 9 pins of the Fischer connector on the MTi 6 3 1 2 Pin configuration casing receptacle CA USB MTi Connect the cable to the MTi and the USB cable to any USB port Under Windows 7 and Windows XP the Xsens USB driver will be automatically installed if not alr...

Страница 70: ...5 7 2 SyncOut Pink 6 9 6 ClockSync Brown 7 8 10 USB DP D RS422_A RX Green 8 3 9 USB DM D RS422_B RX White 9 6 7 6 3 1 3 GPS Antenna The MTi G 700 has an onboard GPS receiver that needs an active antenna This antenna can be connected to the SMA connector on the front panel of the MTi G 700 6 3 1 3 1 Not using the default PCTel 3910 D antenna When using another GPS antenna than the one supplied as a...

Страница 71: ... 01 F DV P K The two headers both have several functions of which some are reserved for future use The 10 pins header offers basic functionality the 14 pins header features advanced options Note that MTi s with an RS422 interface don t have a USB interface Pin Functionality Pin Functionality 10_1 Vin 4 5 34V 14_1 GND 10_2 SyncIn 14_2 3V314 10_3 RS232 RX RS422_Y TX 14_3 UART_TX 10_4 GND 14_4 UART_R...

Страница 72: ...e is a direct serial interface with 3V3 CMOS levels It can be used e g on embedded systems To configure the MTi to communicate via this alternative UART use the command SetExtOutputMode see LLCP This setting will be stored in the non volatile memory so the device will start up communicating over this alternative UART unless a USB connection is detected Note that the maximum baud rate on the altern...

Страница 73: ...chronization purposes see section 5 5 The three Sync lines are the following Name Fischer pin nr OEM 1 pin nr Value high low Input resistance output load Absolute max input SyncIn 5 2 Low value 0 0 8 V High value 2 5 20 V Input resistance 100 kΩ 0 20V SyncOut 6 6 Low value 0 0 4 V High value 2 9 V Output load 330 Ω N A ClockSync 7 10 Low value 0 0 8 V High value 2 5 20 V Input resistance 100 kΩ 0 ...

Страница 74: ...and Green Remove the cable of the legacy MTi and connect the modified MTi MkIV cable MP MTI in the 9 pins Molex receptacle At the 7 pins receptacle of the USB converter the following connections are now available Pin 8 and 9 are only accessible by removing the two wires brown pink from the 9 pins connector Wire color Molex recept pin no Functionality CA USB2 MTI Functionality CA USB4 MTI Functiona...

Страница 75: ...ater splashing can be expected However Xsens in house testing has confirmed that the casing and connector can withstand temporary environmental circumstances equivalent to Protection Classification IP67 sealed against dust 30 minutes immersion at depth of 1 m 6 4 2 Dimensions MTi The MTi 10 series and the MTi 100 series including MTi G 700 have an identical footprint and position of the connector ...

Страница 76: ...Document MT0605P E Xsens Technologies B V MTi User Manual 72 6 4 4 MTi 10 series technical drawing CAD drawings STEP are available at request via sales xsens com ...

Страница 77: ...Document MT0605P E Xsens Technologies B V MTi User Manual 73 6 4 5 MTi 100 200 300 technical drawing CAD drawings STEP are available at request via sales xsens com ...

Страница 78: ...Document MT0605P E Xsens Technologies B V MTi User Manual 74 6 4 6 MTi G 700 technical drawing CAD drawings STEP are available at request via sales xsens com ...

Страница 79: ...Document MT0605P E Xsens Technologies B V MTi User Manual 75 6 4 7 MTi OEM technical drawing CAD drawings STEP are available at request via sales xsens com ...

Страница 80: ...ay cause permanent damage to the device These are stress ratings only and functional operation of the MTi at these or any other conditions beyond those indicated in section 4 6 of the specifications is not implied Exposure to absolute maximum rating conditions for extended periods may affect device reliability NOTE Drops onto hard surfaces can cause shocks of greater than 20000 m s2 2000 g exceed ...

Страница 81: ...0 MTi 100 4A8G4 MTi 100 4A8G0 MTi 100 6A8G4 MTi 100 6A8G0 MTi 200 A G MTi 200 2A5G4 MTi 200 2A5G0 MTi 200 4A5G4 MTi 200 4A5G0 MTi 200 6A5G4 MTi 200 6A5G0 MTi 200 2A8G4 MTi 200 2A8G0 MTi 200 4A8G4 MTi 200 4A8G0 MTi 200 6A8G4 MTi 200 6A8G0 MTi 300 A G MTi 300 2A5G4 MTi 300 2A5G0 MTi 300 4A5G4 MTi 300 4A5G0 MTi 300 6A5G4 MTi 300 6A5G0 MTi 300 2A8G4 MTi 300 2A8G0 MTi 300 4A8G4 MTi 300 4A8G0 MTi 300 6A...

Страница 82: ...4A8G0 MTi 100 6A8G4 MTi 100 6A8G0 MTi 200 A G MTi 200 2A5G4 MTi 200 2A5G0 MTi 200 4A5G4 MTi 200 4A5G0 MTi 200 6A5G4 MTi 200 6A5G0 MTi 200 2A8G4 MTi 200 2A8G0 MTi 200 4A8G4 MTi 200 4A8G0 MTi 200 6A8G4 MTi 200 6A8G0 MTi 300 A G MTi 300 2A5G4 MTi 300 2A5G0 MTi 300 4A5G4 MTi 300 4A5G0 MTi 300 6A5G4 MTi 300 6A5G0 MTi 300 2A8G4 MTi 300 2A8G0 MTi 300 4A8G4 MTi 300 4A8G0 MTi 300 6A8G4 MTi 300 6A8G0 MTi G ...

Страница 83: ...ivered shall materially conform to Xsens then current specifications for the Product for a period of one year from the date of delivery ANY LIABILITY OF XSENS WITH RESPECT TO THE SYSTEM OR THE PERFORMANCE THEREOF UNDER ANY WARRANTY NEGLIGENCE STRICT LIABILITY OR OTHER THEORY WILL BE LIMITED EXCLUSIVELY TO PRODUCT REPAIR REPLACEMENT OR IF REPLACEMENT IS INADEQUATE AS A REMEDY OR IN XSENS OPINION IM...

Страница 84: ...onics Largest Supplier of Electrical and Electronic Components Click to view similar products for xsens manufacturer Other Similar products are found below CA USB6 MTI CA USB4 MTI CA USB2 MTI CA USB MTI CA MP2 MTI ...

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