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Document MT0605P.2018.E
© Xsens Technologies B.V.
MTi User Manual
Table 4: Filter profiles for the MTi-200/MTi-300
Number
Name
IMU Magnetometer
Product
39
General
•
•
30/300-AHRS
40
High_mag_dep
•
•
30/300-AHRS
41
Dynamic
•
•
30/300-AHRS
42
Low_mag_dep
•
•
30/300-AHRS
43
VRU_general
•
30/300-AHRS;
20/200-VRU
The
general
filter profile is the default setting. It assumes moderate dynamics and a homogenous
magnetic field. External magnetic distortions are considered relatively short (up to ~20 seconds). Typical
applications include camera tracking (e.g. TV camera’s), remotely operated robotic arms on ROV’s etc
The
high_mag_dep
filter profile assumes homogenous magnetic field and an excellent Magnetic Field
Mapping. This filter profile heavily relies on the magnetometer for heading. Dynamics of the motion are
relatively slow. Typical applications are navigation of ROV’s or the control of small unmanned
helicopters.
The
dynamic
filter profile assumes jerky motions. However, the assumption is also made that there is
no GNSS available and/or that the velocity is not very high. In these conditions a 100-series MTi may
be a better choice. The dynamic filter profile uses the magnetometer for stabilization of the heading, and
assumes very short magnetic distortions. Typical applications are where the MTi is mounted on persons
or hand-held (e.g. HMD, sports attributes 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 large vessels and
unmanned ground vehicles in buildings.
The
VRU_general
filter profile assumes moderate dynamics in a field where the magnetic field cannot
be trusted at all and benefits from the Active Heading Stabilization feature. It is also possible to use this
filter profile in situations where an alternative source of yaw is available. Yaw from the VRU is
unreferenced; note however, that because of the working principle of the VRU, the drift in yaw will be
much lower than when gyroscope signals would be integrated. Typical applications are stabilized
antenna platforms mounted on cars of ships and pipeline inspection tools. This filter profile is the only
one available for the MTi-20 VRU.
Every application is different and although example applications are listed above, results may vary from
setup to setup. It is recommended to reprocess recorded data with different filter profiles in MT Manager
to determine the best results in your specific application.
4.3 Xsens sensor fusion algorithm for MTi-G-710
The Xsens sensor fusion algorithm in the MTi-G-710 has several advanced features. It can handle a
multitude of data channels, to incorporate GNSS and barometer data as well.
