Document MT0605P.E
© Xsens Technologies B.V.
MTi User Manual
3
2
Introduction
The MTi product portfolio from Xsens currently has 7 family members ranging in functionality from
inertial measurement units (IMU’s) to a fully integrated GPS/INS solution. All products contain a 3D
inertial sensor assembly (ISA: gyroscopes and accelerometers) and 3D magnetometers, with
optionally a barometer and GNSS receiver.
The MTi product range is divided in two series, the MTi 10-series and the MTi 100-series. The MTi 10-
series is Xsens’ entry level model with robust accuracy and a limited range of IO options. The 100-
series is a revolutionary new class of MEMS IMU’s, orientation and position sensor modules offering
unprecedented accuracies and a wide array of IO interfaces.
All MTi’s have a powerful multi-processor core design, capable of processing roll, pitch and yaw with
extremely low latencies, as well as outputting calibrated 3D linear acceleration, rate of turn (gyro),
(earth) magnetic field and atmospheric pressure (100-series only) data. The MTi-G-700 GPS/INS also
offers 3D position and 3D velocity. Over 50 various output formats can be provided directly from the
MTi interface. The various outputs per product can be found in section 4.1.
This documentation describes the use, basic communication interfaces and specifications of all the 7
MTi’s. Where 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 easily be recognized by the silver base
plate. There are no visual differences between the MTi-10
IMU, MTi-20 VRU and MTi-30 AHRS, other than the label.
2.1.1
MTi-30 AHRS
The MTi-30 AHRS is a full gyro-enhanced Attitude and Heading Reference System (AHRS). It outputs
drift-free roll, pitch and true/magnetic North referenced yaw, plus sensors data: 3D acceleration, 3D
rate of turn and 3D earth-magnetic field data. All products of the MTi 10-series are also capable of
outputting data generated by the Strapdown integration algorithm (orientation and velocity increments
∆
q and
∆
v).
2.1.2
MTi-20 VRU
The MTi-20 VRU is a 3D vertical reference unit (VRU), which means that it outputs the same data as
the MTi-30, except for the referenced yaw. They yaw is unreferenced, though still superior to just
gyroscope integration.
2.1.3
MTi-10 IMU
The MTi-10 IMU is a 3D inertial measurement unit (IMU) that outputs 3D acceleration, 3D rate of turn
and 3D earth-
magnetic field data, so it doesn’t process data to orientation. The MTi-10-IMU is also
capable of outputting data generated by the Strapdown integration algorithm (orientation and velocity
increments
∆
q and
∆
v).
