MTi 600-series User Manual
Xsens MTi User Manual Repository
Datasheet
Copyright © 2021 Xsens Page 6
as non-linear temperature effects and other higher order terms) and runs the Xsens optimized
strapdown algorithm, which performs high-rate dead-reckoning calculations up to 2 kHz,
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 400 Hz. The output data of the MTi-600 is
easily configured and customized for an application’s needs and can be set to use one of
various filter profiles available within the Xsens sensor fusion engine. In this way, the MTi-600
limits the load and the power consumption on the user application’s processor. The user can
communicate with the module by means of three different communication interfaces; RS232,
CAN and UART[1]. Other interfaces are available using an MTi Development Kit or by using third
party equipment (e.g. UART/RS232 to USB converter).
Contrary to the above image, the robust MTi-670G and MTi-680G include an internal GNSS
receiver.
MTi 600-series product variants
The MTi-6x0 module is a fully tested self-contained module available as an:
Inertial Measurement Unit (IMU),
Vertical Reference Unit (VRU),
Attitude and Heading Reference System (AHRS)
GNSS aided Inertial Navigation System (GNSS/INS).
It can output 3D orientation data (Euler angles, rotation matrix or quaternions), orientation and
velocity increments (∆q and ∆v), position and velocity quantities and calibrated sensor data
(acceleration, rate of turn, magnetic field and pressure). Depending on the product variant,
output options may differ.
MTi-610 IMU
The MTi-610 module is an IMU that outputs calibrated 3D rate of turn, 3D acceleration, 3D
magnetic field and barometric pressure. The MTi-610 also outputs coning and sculling
compensated orientation increments and velocity increments (∆q and ∆v). Advantages over a
simple gyroscope-accelerometer combo-sensor are the inclusion of synchronized magnetic
field and barometric data, on-board signal processing and the easy-to-use synchronization and
communication protocol. The signal processing pipeline and the suite of output options allow
access to the highest possible accuracy at any output data rate up to 2000 Hz. Moreover, the
