Table of Contents
1Introduction..............................................................................6
2Getting Started.......................................................................... 7
2.1 Xsens DOT set ........................................................................................... 7
2.2 Hardware .................................................................................................. 7
2.2.1 Xsens DOT ........................................................................................... 7
2.2.2 Power button........................................................................................ 8
2.2.3 LED status ........................................................................................... 8
2.2.4 Charger ............................................................................................... 9
2.2.5 Body straps and accessories................................................................... 9
2.3 Software ................................................................................................... 9
2.3.1 Supported platforms.............................................................................10
2.3.2 Choose your software...........................................................................10
2.4 Tips for best practice .................................................................................11
2.4.1 Multiple sensors connection...................................................................11
2.4.2 Magnetic distortion...............................................................................11
2.4.3 Cleaning method..................................................................................12
2.4.4 Long-term storage guidelines ................................................................12
3Xsens DOT Overview ............................................................... 14
3.1 Strapdown integration................................................................................14
3.2 Sensor fusion algorithm and filter profiles.....................................................14
3.3 Xsens DOT sensor state transition ...............................................................15
3.3.1 Power ON/OFF.....................................................................................15
3.3.2 Advertisement .....................................................................................16
3.3.3 Connection..........................................................................................16
3.3.4 Synchronization...................................................................................16
3.3.5 Measurement ......................................................................................17
3.3.6 Power saving.......................................................................................19
3.4 Magnetic Field Mapper................................................................................19
3.5 Firmware Update.......................................................................................20
3.5.1 Firmware update..................................................................................20
3.5.2 Firmware downgrade............................................................................20
3.5.3 Firmware compatibility .........................................................................21
4Output Specifications .............................................................. 22
4.1 Coordinate systems ...................................................................................22
4.1.1 Sensor coordinate system .....................................................................22
4.1.2 Orientation coordinate system ...............................................................22
4.1.3 Heading reset......................................................................................23
4.2 Sensors data outputs .................................................................................24
