MTi and MTx User Manual and Tech. Doc., © 2005, Xsens Technologies B.V.
MT0100P.E
iii
Table of Contents
1
INTRODUCTION
1
1.1
P
RODUCT
D
ESCRIPTION
1
1.1.1
MTi – miniature gyro-enhanced Attitude and Heading Reference Sensor
1
1.1.2
MTx – miniature inertial 3DOF Orientation Tracker
1
1.2
O
VERVIEW
MT
I AND
MT
X
D
EVELOPMENT
K
IT
2
1.2.1
Contents
2
1.3
T
YPICAL
U
SER
S
CENARIOS
3
1.3.1
Getting Started with the MT Software
3
1.3.2
Interface through COM-object API
3
1.3.3
Direct low-level communication with MTi or MTx
3
1.4
S
ENSOR FUSION
4
2
OUTPUT SPECIFICATION
5
2.1
C
O
-
ORDINATE SYSTEMS
5
2.1.1
Calibrated Sensor readings
5
2.1.2
Orientation co-ordinate system
6
2.2
O
RIENTATION PERFORMANCE SPECIFICATION
7
2.2.1
Sensor fusion algorithm settings
7
2.3
O
RIENTATION OUTPUT MODES
8
2.3.1
Quaternion orientation output mode
9
2.3.2
Euler angles orientation output mode
10
2.3.3
Rotation Matrix orientation output mode
10
2.4
C
ALIBRATED DATA PERFORMANCE SPECIFICATION
12
2.5
C
ALIBRATED DATA OUTPUT MODE
13
2.5.1
Physical sensor model
13
2.5.2
Calibrated inertial and magnetic data output mode
14
2.5.3
Un-calibrated raw output mode
14
2.6
R
ESET OF OUTPUT OR REFERENCE CO
-
ORDINATE SYSTEMS
16
2.6.1
Output with respect to non-default coordinate frames
16
2.6.2
Heading reset
16
2.6.3
Global reset
16
2.6.4
Object reset
17
2.6.5
Alignment reset
18
2.7
T
IMESTAMP OUTPUT
18
2.8
A
NALOG OUTPUTS
18
2.8.1
Conversion to Euler angles
18
2.8.2
Accuracy
18
2.8.3
Accurate measurement of analog outputs
19
3
BASIC COMMUNICATION
21
3.1
I
NTRODUCTION
21
3.2
S
TATES
21
3.3
M
ESSAGES
22
3.3.1
Message structure
22
3.3.2
Message usage
23
3.3.3
Common messages
24
3.4
C
OMMUNICATION
T
IMING
28
3.4.1
Orientation output mode timing
28
3.4.2
Calibrated data output mode timing
29
3.5
I
NTERNAL CLOCK ACCURACY
29
3.6
D
EFAULT
S
ERIAL
C
ONNECTION
S
ETTINGS
29
3.6.1
General definitions for binary data
30
