Xsens MTi Series, Справочное руководство

Страница: 3 / 31

iii Document MT1600P.2019.A
© Xsens Technologies B.V. MTi Family Reference Manual
Table of Contents
1 XSENS CUSTOMER SUPPORT AND BASE ................................................................................ 6
2 INTRODUCTION ............................................................................................................................ 7
2.1 F
ROM
IMU
TO
GNSS/INS ............................................................................................................ 8
2.1.1 IMU .................................................................................................................................... 8
2.1.2 VRU ................................................................................................................................... 8
2.1.3 AHRS ................................................................................................................................. 8
2.1.4 GNSS/INS .......................................................................................................................... 8
2.2 X
SENS
MT
I HARDWARE PLATFORMS
.............................................................................................. 9
2.2.1 MTi 1-series ....................................................................................................................... 9
2.2.2 MTi 600-series ................................................................................................................... 9
2.2.3 MTi 10-series ..................................................................................................................... 9
2.2.4 MTi 100-series ................................................................................................................... 9
3 GETTING STARTED WITH THE MTI .......................................................................................... 11
3.1 O
VERVIEW
MT
I
D
EVELOPMENT
K
IT
.............................................................................................. 11
3.1.2 MT Software Development Kit (MT SDK) ........................................................................ 13
3.1.3 Low-level Communication ................................................................................................ 13
3.1.4 Terms of use of MT Software Suite ................................................................................. 13
4 MTI SYSTEM OVERVIEW ........................................................................................................... 15
4.1 T
EST AND
C
ALIBRATION
.............................................................................................................. 15
4.2 C
OORDINATE SYSTEMS
............................................................................................................... 15
4.2.1 Calibrated inertial data and magnetic field data .............................................................. 15
4.2.2 Orientation increment and Velocity increment (dq and dv) ............................................. 16
4.2.3 Orientation data ............................................................................................................... 17
4.2.4 Velocity data .................................................................................................................... 18
4.2.5 Position data .................................................................................................................... 19
4.3 P
HYSICAL SENSOR MODEL
........................................................................................................... 19
4.3.1 Ca librated ∆q and ∆v outputs .......................................................................................... 20
4.3.2 Calibrated inertial and magnetic data outputs ................................................................. 20
4.3.3 High-rate (HR) inertial data outputs ................................................................................. 20
4.3.4 Free acceleration ............................................................................................................. 21
4.4 X
SENS
S
ENSOR
F
USION
A
LGORITHMS
......................................................................................... 22
4.4.1 Internal Sensor Bias Estimation....................................................................................... 22
4.4.2 Roll and Pitch estimation ................................................................................................. 22
4.4.3 Heading/yaw estimation ................................................................................................... 23
4.4.4 Velocity and Position estimation ...................................................................................... 23
4.4.5 Initialization ...................................................................................................................... 24
4.4.6 Filter Profile options ......................................................................................................... 24
4.4.7 Additional setting options and features ............................................................................ 24
4.5 MT
I SERIES INTERFACE OPTIONS
................................................................................................. 26
4.6 T
IMING AND SYNCHRONIZATION
................................................................................................... 26
5 INPUT AND OUTPUT SPECIFICATION...................................................................................... 27
5.1 O
VERVIEW OF DATA OUTPUT PROTOCOLS
.................................................................................... 27
5.2 O
VERVIEW OF DATA INPUTS
......................................................................................................... 27
5.3 B
UILT
-
IN SELF
-
TEST
.................................................................................................................... 27
5.4 T
IMESTAMP AND PACKET COUNTER OUTPUT
................................................................................. 27
5.5 S
TATUS WORD
............................................................................................................................ 28