![background image](http://html1.mh-extra.com/html/xsens/mti-series/mti-series_reference-manual_3675671020.webp)
20
Document MT1600P.2019.A
© Xsens Technologies B.V.
MTi Family Reference Manual
4.3.1 Calibrated
∆q
and
∆v
outputs
The calibrated
∆
q (delta_q) and
∆v
(delta_v) outputs are the coning and sculling compensated
strapdown integrated data in the sensor-fixed coordinate system (S
xyz
) or (O
xyz
). Note that the value of
the output depends on the output frequency, as the values are integrated over the sample time. Delta_q
can also be noted as dq, delta_angle, del_q or OriInc. Delta_v can also be noted as dv, delta_velocity,
del_v or VelInc.
Table 8: Output specifications
∆
q and
∆
v outputs
Output
Unit
Delta_q (DataID 0x8030)
a.u. (quaternion values)
Delta_v (DataID 0x4010)
m/s
It is possible to multiply consecutive delta_q values to find the total orientation change over a specific
period. Note that this data is not drift free, it still contains the sensor bias, as it has not been processed
by the sensor fusion algorithm. Use the orientation output for drift free orientation.
4.3.2 Calibrated inertial and magnetic data outputs
Output of calibrated 3D linear acceleration, 3D rate of turn and 3D magnetic field data is in sensor-fixed
coordinate system (S
xyz
) or (O
xyz
). The units of the calibrated data output are as shown in Table 9.
Table 9: Output specifications inertial and magnetometer data outputs
Vector
Unit
Acceleration (DataID 0x4020)
m/s
2
Angular velocity (RateOfTurn) (DataID 0x8020) rad/s
Magnetic field (DataID 0xC020)
a.u. (arbitrary units; normalized to earth field
strength at the location the MFM is performed)
4.3.3 High-rate (HR) inertial data outputs
High-rate calibrated 3D acceleration (accelerometer) and 3D rate of turn (gyroscope) are outputted in
sensor-fixed coordinate system (S
xyz
) or (O
xyz
). The units of the calibrated data output are as shown in
Table 10. HR calibrated data is available at a higher rate than regular calibrated inertial data outputs. It
is outputted as a separate data packet next to the other data outputs. The maximum output rate, degree
of signal processing, and calibration applied depends on device type.
Refer to
MT
Low Level Communication Protocol Documentation
10
for more details.
Table 10: Output specifications high rate calibrated inertial data outputs
Vector
Unit
AccelerationHR (DataID 0x4040)
m/s
2
RateOfTurnHR (DataID 0x8040)
rad/s
10
Links to the latest available documentation can be found via the following link: