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Document MT1600P.2019.A
© Xsens Technologies B.V.
MTi Family Reference Manual
The housing and PCB of the MTi 600-series are carefully aligned with the output coordinate system
during the individual factory calibration. The non-orthogonality between the axes of S
xyz
is <0.05
. This
also means that the output of 3D linear acceleration, 3D rate of turn and 3D magnetic field data all will
have orthogonal xyz readings within <0.05
.
Some of the commonly used data outputs and their reference coordinate systems are listed in Table 6.
Table 6: Data outputs with reference coordinate systems
Data
Reference coordinate system
Acceleration
Sensor-fixed frame (S
xyz
) or O
xyz
Rate of turn
Sensor-fixed frame (S
xyz
) or O
xyz
Magnetic field
Sensor-fixed frame (S
xyz
) or O
xyz
Velocity increment
Sensor-fixed frame (S
xyz
) or O
xyz
Orientation increment
Sensor-fixed frame (S
xyz
) or O
xyz
Free acceleration
Local earth-fixed frame (L
XYZ
), default ENU
Orientation
Local earth-fixed frame (L
XYZ
), default ENU
Velocity
Local earth-fixed frame (L
XYZ
), default ENU
Position
Local earth-fixed frame (L
XYZ
), default ENU
4.2.2 Orientation increment and Velocity increment (dq and dv)
The Strap Down Integration (SDI) output of the MTi contain orientation increments (dq) and velocity
increments (dv). These values represent the orientation change and velocity change during a certain
interval based on the output rate. The output rate is selectable up to 100 Hz or 400 Hz depending on
the product. The dq and dv values are always represented in the same coordinate system as calibrated
inertial data and magnetic field data, which can be S
xyz
or O
xyz
.
Figure 8: Default coordinate system of MTi 600-series
Z
X
Y
Figure 7: Default coordinate system of MTi 1-series
Z
X
