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Document MT1600P.2019.A
© Xsens Technologies B.V.
MTi Family Reference Manual
4.4.5 Initialization
The Xsens sensor fusion algorithms do not only estimate orientation, but also keeps track of variables
such as sensor biases or properties of the local magnetic field. For this reason, the orientation output
may need some time to stabilize once the MTi is put into measurement mode. Time to obtain optimal
stable output depends on a number of factors. An important factor determining stabilizing time is
determined by the time to correct for small errors on the bias of the gyroscopes. The bias of the
gyroscope may slowly change due to different effect such as temperature change or exposure to impact.
4.4.6 Filter Profile options
As described above, the algorithm uses assumptions about the acceleration and the magnetic field to
obtain orientation. Because the characteristics of the acceleration or magnetic field differ for different
applications, the Xsens algorithm makes use of filter profiles to be able to use the correct assumptions
given the application. This way, it can be optimized for different types of movement. For optimal
performance in a given application, the correct filter profile must be set by the user. Each product offer
different filter profile options, refer to the specific documentation to know more about the filter profiles
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4.4.7 Additional setting options and features
Table 11 summarizes the additional options offered to adapt and optimize the algorithm to cover more
scenarios and possible corner cases.
Table 11: Supplementary features and settings
Active Heading
Stabilization (AHS)
Active Heading Stabilization (AHS) is a software component within the
sensor fusion engine designed to give a low-drift unreferenced (not North-
referenced) yaw solution even in a disturbed magnetic environment. It is
aimed to tackle magnetic distortions that do not move with the sensor, i.e.
temporary or spatial distortions.
AHS is not tuned for nor intended to be used with GNSS/INS devices.
Therefore, Xsens discourages the use of this feature for GNSS/INS
devices.
For the MTi 600-series, the AHS feature is embedded in the filter profiles.
For more information on the activation and use of AHS, refer to the BASE-
article:
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Datasheet for the MTi 1-series and MTi 600-series. MTi User Manual for the other Xsens MTi products
