Xsens MTi 1 Series User manual

MTi 1-series User Manual
User Manual
Please visit mtidocs.xsens.com for the latest version of this document.
Created: Friday, September 16, 2022
Copyright © Xsens. All Rights Reserved.

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The information contained in this document is subject to change without notice.
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All rights are reserved. No part of this document may be photocopied, reproduced,
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Table of Contents
MTi 1-series 1 ...................................................................................................................................
Datasheet 2 ..............................................................................................................................
General Information 3 ........................................................................................................
Sensor Specifications 9 ......................................................................................................
Functional Description 12 ..................................................................................................
MTi 1-series Architecture 30 ..............................................................................................
System and Electrical Specifications 41 .............................................................................
Design and Packaging 45 ...................................................................................................
Declaration of conformity 50 ..............................................................................................
DK User Manual 53 ....................................................................................................................
General Information 54 ......................................................................................................
Introduction 57 ...................................................................................................................
Getting started 60 ..............................................................................................................
Shield board 65 ..................................................................................................................
Integration Manual 78 ...............................................................................................................
General information 79 ......................................................................................................
Power supply 81 .................................................................................................................
Interfaces 83 ......................................................................................................................
Design 90 ...........................................................................................................................
Packaging 96 ......................................................................................................................
Handling 97 ........................................................................................................................

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Datasheet

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General Information
General Information
Ordering information
Identifying device functionality using the unique Device Identifier
Block diagram
This document provides information on the contents and usage of the MTi 1-series modules.
The MTi 1-series module (MTi 1-s) is a fully functional, self-contained module that is easy to
design-in. The MTi 1‑s can be connected to a host through I2C, SPI or UART interfaces.
The Hardware Integration Manual supplements this document. It contains notes on typical
application scenarios, recommended external components, printed circuit board (PCB) layout,
origin of measurements, stress related considerations, reference designs and handling
information.
The MT Low Level Communication Protocol Document provides a complete reference for the
protocol to communicate with Xsens Motion Trackers. For a better understanding of the
Synchronous Serial Protocol (discussed in Functional Description) for use with the MTi 1-s, the
advice is to read the communication protocol reference in the MT Low Level Communication
Protocol Document first. This document also describes the synchronization messages and
settings in detail.
Ordering information
Due to obsolescence management and continuous improvement, the MTi 1-series is
Due to obsolescence management and continuous improvement, the MTi 1-series is
subject to hardware changes, resulting in different hardware versions (v1.x, v2.x and
subject to hardware changes, resulting in different hardware versions (v1.x, v2.x and
v3.x). The tables below list the ordering part numbers for the hardware versions that
v3.x). The tables below list the ordering part numbers for the hardware versions that
are currently available (v2.x and v3.x). For an overview of differences between these
are currently available (v2.x and v3.x). For an overview of differences between these
hardware versions we refer to the migration articles on BASE.
hardware versions we refer to the migration articles on BASE.
Ordering information for MTi 1-series modules v2.x
Part
Number Output Package Packing Method
MTi-1T IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Tray of 20

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Part
Number Output Package Packing Method
MTi-2T VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-3T AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-7T GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-1C IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-2C VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-3C AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-7C GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-1R IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-2R VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-3R AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-7R GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Reel of 250
Ordering information for MTi 1-series modules v3.x
Note: "0" is a number (zero), "I" is a character (capital i).
Part Number Output Package Packing Method
MTi-1-0I-T IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-2-0I-T VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Tray of 20

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Part Number Output Package Packing Method
MTi-3-0I-T AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-7-0I-T GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-8-0I-T RTK GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-1-0I-C IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-2-0I-C VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-3-0I-C AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-7-0I-C GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-8-0I-C RTK GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-1-0I-R IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-2-0I-R VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-3-0I-R AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-7-0I-R GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-8-0I-R RTK GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Reel of 250

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Identifying device functionality using the unique Device Identifier
Each Xsens product is marked with a unique serial device identifier referred to as the Device ID.
The Device ID is categorized per MTi product configuration in order to make it possible to
recognize the MTi by reviewing the Device ID. The second digit of the Device ID denotes the
functionality (e.g. ‘1’ for all IMU products, such as MTi-1, MTi-10 and MTi-100), the third digit
denotes the product series (6 for MTi 10-series, 7 for MTi 100-series, 8 for MTi 1-series) and the
fourth digit denotes the interface (always 8 for the MTi 1-series). The last four digits are unique
for each device; these four digits have a hexadecimal format.
Below is a list of the MTi 1-series product types with their associated Device IDs.
Device ID's for MTi 1-series
Product (MTi 1-series) Device ID HW version
MTi-1 IMU 0188xxxx Check component layout (Design and Packaging), MT
Manager Device Settings or send the
ReqHardwareVersion low-level (Xbus) command.
MTi-2 VRU 0288xxxx
MTi-3 AHRS 0388xxxx
MTi-7 GNSS/INS 0788xxxx ≥ 2.0 only. Check component layout (Design and
Packaging), MT Manager Device Settings or send the
ReqHardwareVersion low-level (Xbus) command.
MTi-8 RTK GNSS/INS 0888xxxx ≥ 3.1 only. Check component layout (Design and
Packaging), MT Manager Device Settings or send the
ReqHardwareVersion low-level (Xbus) command.
The rest of this document only caters to MTi 1-series with HW version ≥ 2.0. Refer to the MTi 1-
series Datasheet version 1.x if you have an MTi with HW version < 2.0.
Block diagram

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MTi 1-series module diagram
The above diagram shows a simplified organization of the MTi 1-series module (MTi 1-s). The
MTi 1-s contains a 3-axis gyroscope, a 3-axis accelerometer, a 3-axis magnetometer, a high-
accuracy crystal and a low-power microcontroller unit (MCU). The MTi-7/8 module can also
accept the signals from an external GNSS receiver and/or barometer. The MCU coordinates the
timing and synchronization of the various sensors. The module offers the possibility to use
external signals in order to accurately synchronize the Mti 1-s with any user application. The
MCU applies calibration models (unique to each sensor and including orientation, gain and bias
offsets, plus more advanced relationships such as non-linear temperature effects and other
higher order terms) and runs the Xsens optimized strapdown algorithm, which performs high-
rate dead-reckoning calculations at 800 Hz, allowing accurate capture of high frequency
motions and coning & sculling compensation. The Xsens sensor fusion engine combines all
sensor inputs and optimally estimates the orientation, position and velocity at an output data
rate of up to 100 Hz. The MTi 1-s is easily configurable for the outputs and, depending on the
application’s needs, can be set to use one of the filter profiles available within the Xsens sensor
fusion engine. In this way, the MTi 1-s limits the load and the power consumption on the user
application processor. The user can communicate with the module by means of three different
communication interfaces. They are I2C, SPI and UART.

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Sensor Specifications
MTi 1-series performance specifications
Sensor specifications
This section presents the performance and the sensor component specifications for the
calibrated MTi 1-s module. Each module goes through the Xsens calibration process
individually. The calibration procedure calibrates for many parameters, including bias (offset),
alignment of the sensors with respect to the module PCB and each other and gain (scale
factor). All calibration values are temperature dependent and temperature calibrated. The
calibration values are stored in non-volatile memory of the module.
MTi 1-series performance specifications
Orientation performance specifications
Parameter MTi-1 IMU MTi-2
VRU MTi-3 AHRS MTi-7 GNSS/INS
MTi-8
RTK GNSS/INS
Roll/Pitch Static [RMS] N/A 0.5º 0.5º 0.5º 0.5º
Dynamic
(car, 25m/s)
[RMS]
N/A 0.8º 0.8º 0.5º 0.5º
Yaw [RMS] N/A Unreferenced 2º 1.5º 1.0º
Position and velocity performance MTi-7 GNSS/INS (with MTi-7-DK)
Parameter Specification
Position Horizontal (CEP) 1.0 m
Vertical (CEP) 2.0 m
Velocity (1σ RMS) 0.05 m/s
Position and velocity performance MTi-8 RTK GNSS/INS (with MTi-8-DK and RTK correction
signals provided)
Parameter Specification
Position Horizontal (CEP) 0.01 m

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Parameter Specification
Vertical (CEP) 0.1 m
Velocity (1σ RMS) 0.05 m/s
All the above specifications are based on typical application scenarios, and with MTi-x-DK
reference designs.
Sensor specifications
Gyroscope specifications#1
Gyroscope specification Unit MTi 1-series
v2.x
MTi 1-series
v3.x
Standard full range [°/s] ±2000 ±2000
In-run bias stability [°/h] 10 6
Bandwidth (-3dB) [Hz] 255 230
Noise density [°/s/√Hz] 0.007 0.003
g-sensitivity (calibrated) [°/s/g] 0.001 0.001
Non-linearity [%FS] 0.1 0.1
Sensitivity variation [%] 0.05 0.05
Accelerometer specifications#1
Accelerometer Unit MTi 1-series
v2.x
MTi 1-series
v3.x
Standard full range [g] ±16 ±16
In-run bias stability [mg] 0.03 0.04
Bandwidth (-3dB) [Hz] 324 (Z: 262) 230
Noise density [µg/√Hz] 120 70
Non-linearity [%FS] 0.5 0.5

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Magnetometer specifications#1
Magnetometer Unit MTi 1-series
v2.x/v3.x
Standard full range [G] 8
Non-linearity [%] 0.2
Total RMS noise [mG] 0.5
Resolution [mG] 0.25
Alignment specifications#1
Parameter Unit MTi 1-series
v2.x/v3.x
Non-orthogonality (accelerometer) [°] 0.05
Non-orthogonality (gyroscope) [°] 0.05
Non-orthogonality (magnetometer) [°] 0.05
Alignment (gyr to acc) [°] 0.05
Alignment (mag to acc) [°] 0.1
Alignment of acc to the module
board
[°] 0.2
[1] As Xsens continues to update the sensors on the module, these specifications may change
in the future.

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Functional Description
Functional Description
Pin configuration
Pin map
Pin descriptions
Peripheral interface selection
Peripheral interface architecture
Xbus Protocol
MTSSP Synchronous Serial Protocol
I2C
SPI
UART half-duplex
UART full duplex with RTS/CTS flow control
This chapter describes the MTi 1-s pinout and gives details about the supported communication
interfaces.
Pin configuration
Pin configuration of the MTi 1-series module (top view)

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Pin map
The pin map depends on the peripheral selection, as can be seen in the table below. Configuring
the peripheral is explained in #Peripheral interface selection.
Pin mapping for peripheral selection
PSEL:
I2C
PSEL:
SPI
PSEL:
UART half
duplex
PSEL:
UART full duplex
1#1 AUX_SCK/DNC AUX_SCK/DNC AUX_SCK/DNC AUX_SCK/DNC
2 DNC DNC DNC DNC
3 DNC DNC DNC DNC
4 GND GND GND GND
5 VDDA VDDA VDDA VDDA
6 nRST nRST nRST nRST
7 VDDIO VDDIO VDDIO VDDIO
8 GND GND GND GND
9 DNC SPI_nCS DNC DNC
10 ADD2#2 SPI_MOSI DNC DNC
11 ADD1#2 SPI_MISO DNC DNC
12 ADD0 SPI_SCK DNC DNC
13 GND GND GND GND
14 PSEL0 PSEL0 PSEL0 PSEL0
15 PSEL1 PSEL1 PSEL1 PSEL1
16 SYNC_IN SYNC_IN SYNC_IN SYNC_IN
17 RESERVED RESERVED RESERVED RESERVED
18#1 AUX_RX/DNC AUX_RX/DNC AUX_RX/DNC AUX_RX/DNC

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19#1 AUX_TX/DNC AUX_TX/DNC AUX_TX/DNC AUX_TX/DNC
20#1 SYNC_PPS/DNC SYNC_PPS/DNC SYNC_PPS/DNC SYNC_PPS/DNC
21 DNC DNC DE RTS
22 DRDY DRDY nRE CTS#3
23 I2C_SDA DNC UART_RX UART_RX
24 I2C_SCL DNC UART_TX UART_TX
25 GND GND GND GND
26#1 AUX_nCS/DNC AUX_nCS/DNC AUX_nCS/DNC AUX_nCS/DNC
27#1 AUX_MOSI/DNC AUX_MOSI/DNC AUX_MOSI/DNC AUX_MOSI/DNC
28#1 AUX_MISO/DNC AUX_MISO/DNC AUX_MISO/DNC AUX_MISO/DNC
[1] AUX and SYNC_PPS pins are only available on MTi-7
[2] I2C addresses, see #List of I2C addresses.
[3] CTS cannot be left unconnected if the interface is set to UART full duplex. If HW flow control
is not used, connect to GND.
Pin descriptions
Pin description MTi 1-series module
Name Type Description
Power Interface
VDDA Power Analog power supply voltage for sensing elements
VDDIO Power Digital supply voltage. Also used as I/O reference.
Controls

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Name Type Description
PSEL0 Selection
pins
These pins determine the signal interface. See #Peripheral interface
selection. Note that when the PSEL0/PSEL1 is not connected, its
value is 1. When PSEL0/PSEL1 is connected to GND, its value is 0.
PSEL1
nRST Active low reset pin. Only drive with an open drain output or
momentary (tactile) switch to GND. During normal operation this pin
must be left floating, because this line is also used for internal
resets. This pin has an internal weak pull-up to VDDIO.
ADD2 Selection
pins
I2C address selection lines. See #List of I2C addresses.
ADD1
ADD0
Signal Interface
I2C_SDA I2C
interface
I2C serial data input/output
I2C_SCL I2C serial clock input
SPI_nCS SPI
interface
SPI chip select input (active low)
SPI_MOSI SPI serial data input (slave)
SPI_MISO SPI serial data output (slave)
SPI_SCK SPI serial clock input
RTS UART
interface
Hardware flow control output in UART full duplex mode (Ready-to-
Send)
CTS Hardware flow control input in UART full duplex mode (Clear-to-
Send). If flow control is not used, connect to GND
nRE Receiver control signal output in UART half duplex mode
DE Transmitter control signal output in UART half duplex mode
UART_RX Receiver data input
UART_TX Transmitter data output
SYNC_IN Sync
interface
Accepts a trigger input to request the latest available data message
DRDY Data
ready
Data ready output indicates that data is available (SPI / I2C)

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Name Type Description
Auxiliary interface (MTi-7 only)
AUX_RX Auxiliary
GNSS
interface
Receiver data input from GNSS module
AUX_TX Transmitter data output to GNSS module
SYNC_PPS Pulse per second input from GNSS module
AUX_nCS Auxiliary
SPI
interface
SPI chip select output
AUX_MOSI SPI serial data output (master)
AUX_MISO SPI serial data input (master)
AUX_SCK SPI serial clock output
Peripheral interface selection
The MTi 1-series module supports UART, I2C, and SPI interfaces for host communication. The
host can select the active interface through the peripheral selection pins PSEL0 and PSEL1. The
module reads the state of these pins at start-up, and configures its peripheral interface
according to the Table below. To change the selected interfaces, the host must first set the
desired state of the PSEL0 and PSEL1 pins, and then reset the module. The module has internal
pull-ups on the PSEL0 and PSEL1 pins. If these pins are left unconnected, the peripheral
interface selection defaults to I2C (PSEL0 = 1, and PSEL1 = 1).
Peripheral interface selection
Interface PSEL1 PSEL0
I2C1 1
SPI 1 0
UART half-duplex 0 1
UART full-duplex 0 0

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Peripheral interface architecture
At its core, the module uses the Xsens-proprietary Xbus protocol which is compatible with all
Xsens Motion Tracker products. This protocol is available on all interfaces; UART
(asynchronous serial port interfaces), I2C and SPI interfaces. The I2C and SPI interfaces differ
from UART in that they are synchronous, and have a master-slave relationship in which the slave
cannot send data by itself. This makes the Xbus protocol not directly transferable to these
interfaces. For this purpose, the module introduces the MTi Synchronous Serial Protocol
(MTSSP) protocol, a protocol for exchanging standard Xbus protocol messages over the I2C and
SPI interfaces. The below figure shows how MTSSP fits in the module's (simplified)
communication architecture. The module has generic Input- and Output-Queues for Xbus
protocol messages. For I2C and SPI, the MTSSP layer translates these messages, while for the
UART connection, the module transports the messages as-is.
Note: The MTi 1-series offers access to the module via the UART, SPI and I²C
Note: The MTi 1-series offers access to the module via the UART, SPI and I²C
interfaces, as well as an additional USB interface when using the Development Shield.
interfaces, as well as an additional USB interface when using the Development Shield.
Please note that the graphical software tools, such as MT Manager and the Magnetic
Please note that the graphical software tools, such as MT Manager and the Magnetic
Field Mapper, as well as a large part of the MT SDK are only supported when using
Field Mapper, as well as a large part of the MT SDK are only supported when using
serial (UART/USB) communication. For I²C or SPI communication, dedicated
serial (UART/USB) communication. For I²C or SPI communication, dedicated
"embedded example codes" are available as part of the MT SDK.
"embedded example codes" are available as part of the MT SDK.
Communication architecture of MTi 1-series module (simplified)