Xsens MTi 600 Series User manual

MTi 600-series User Manual
User Manual
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Created: Friday, September 16, 2022
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Table of Contents
MTi 600-series User Manual 1 ..........................................................................................................
MTi 600-series Datasheet 2 ......................................................................................................
General Information 3 ........................................................................................................
Sensor Specifications 9 ......................................................................................................
Functional description 13 ...................................................................................................
Signal processing and algorithms 18 .................................................................................
Synchronization options 32 ................................................................................................
System and Electrical Specifications 37 .............................................................................
Design and packaging 44 ...................................................................................................
Declaration of conformity 48 ..............................................................................................
DK User Manual 54 ....................................................................................................................
General information 55 ......................................................................................................
Introduction 62 ...................................................................................................................
Getting Started 63 .............................................................................................................
Development board 69 ......................................................................................................
Standalone configuration 79 ..............................................................................................
Starter Kit 80 ......................................................................................................................
Hardware Integration Manual 86 ...............................................................................................
General information 87 ......................................................................................................
Interfaces 88 ......................................................................................................................
Electrical specifications 96 .................................................................................................
Design 99 ...........................................................................................................................

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MTi 600-series Datasheet

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General Information
General Information
Ordering information
MTi 600-series architecture
MTi 600-series product variants
MTi-610 IMU
MTi-620 VRU
MTi-630(R) AHRS
MTi-670(G) GNSS/INS
MTi-680(G) RTK GNSS/INS
This document provides information on the usage and technical details of the MTi 600-series.
The MTi 600-series module (MTi-600) is a fully functional, self-contained module that is easy to
design-in. The MTi-600 module (IP51) can be connected to a host through RS232, CAN or UART
interfaces, or through USB using the UART to USB converter (included in the MTi 600-series
Development Kit). In contrast, the MTi 600-series robust trackers (MTi-630R, MTi-670G and
MTi-680G) are rugged (IP68) devices which can be connected to a host through RS232 or CAN
interface, or through USB using the RS232 to USB converter dongle (included in the MTi 600-
series Starter Kit).
The MTi Family Reference Manual supplements this document. It reports generic information
on the MTi 1-series and MTi 600-series, such as output definitions, algorithm details and
installation tips.
The MTi 600-series Hardware Integration Manual supplements this document. In this document,
notes on typical application scenarios, printed circuit board (PCB) layout, origin of measurement
reference system, stress related considerations, reference designs and handling information
can be found.
For testing and prototyping, Xsens provides the MTi-630, MTi-670 and MTi-680 Development
Kits (MTi-630-DK, MTi-670-DK and MTi-680-DK) as well as Starter Kits (SK) for the robust
MTi-630R, MTi-670G and MTi-680G. In addition to the RS232, CAN and UART pin connectors of
the MTi 600-series module, the Development Kit offers a direct USB, RS232, RS422 and CAN
interface. Technical details of the Development Kit and its usage can be found in the MTi 600-
series DK User Manual .

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The MT Low Level Communication Protocol document provides a complete reference for the
protocols used to communicate with Xsens Motion Trackers on a low-level basis. The MT Low
Level Communication Protocol document also describes the synchronization messages and
settings in detail.
Ordering information
Ordering information for MTi 600-series products
Part Number Description Packing
MTi-610 IMU
Inertial data
Box
(MOQ 5 units)
MTi-620 VRU
Inertial data, roll/pitch/yaw (unreferenced)
Box
(MOQ 5 units)
MTi-630 AHRS
Inertial data, roll/pitch/yaw (referenced)
Box
(MOQ 5 units)
MTi-630R AHRS
Inertial data, roll/pitch/yaw (referenced)
Box
MTi-670 GNSS/INS
Inertial data, roll/pitch/yaw (referenced), velocity,
position
Box
(MOQ 5 units)
MTi-670G GNSS/INS
Inertial data, roll/pitch/yaw (referenced), velocity,
position
Box
MTi-680 RTK GNSS/INS
Inertial data, roll/pitch/yaw (referenced), velocity,
position
Box
(MOQ 5 units)
MTi-680G RTK GNSS/INS
Inertial data, roll/pitch/yaw (referenced), velocity,
position
Box
MTi-630-DK Development Kit for MTi-630 AHRS
(also applicable for MTI-610 IMU and MTi-620 VRU)
Box
MTi-630R-SK Starter Kit for MTi-630R AHRS Box
MTi-670-DK Development Kit for MTi-670 GNSS/INS Box
MTi-670G-SK Starter Kit for MTi-670G GNSS/INS Box

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Part Number Description Packing
MTi-680-DK Starter Kit for MTi-680 RTK GNSS/INS Box
MTi-680G-SK Starter Kit for MTi-680G RTK GNSS/INS Box
MTi 600-series architecture
MTi 600-series module diagram
The diagram in the figure above shows a simplified architecture of the MTi 6x0-series module.
The MTi-6x0 contains a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer,
barometer, a high-accuracy crystal and a low-power micro-controller unit (MCU). The
MTi-670/680 module can also accept signals from an external GNSS receiver. 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 clock and/or outputs of
the MTi-6x0 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

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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

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testing and calibration is already performed by Xsens and results in a robust and reliable sensor
module, which enables a short time to market for the users.
MTi-620 VRU
The MTi-620 is a 3D VRU. On top of the functionality of the MTi-610 IMU, its algorithm
computes 3D orientation data with respect to a gravity referenced frame: drift-free roll, pitch and
unreferenced yaw. Although the yaw is unreferenced, it is superior to only gyroscope integration
as a result of advanced on-board sensor fusion. The 3D acceleration is also available as so-
called free acceleration, which has the local-gravity subtracted. The drift in unreferenced
heading can be limited by using the Active Heading Stabilization (AHS) functionality. See Signal
processing and algorithms for more details. The raw sensor signals are combined and
processed at a high frequency to produce a real-time data stream with the device’s 3D
orientation (roll, pitch and yaw) up to 400 Hz.
MTi-630(R) AHRS
The MTi-630 supports all features of the MTi-610 and MTi-620, and, in addition, is a full
magnetometer-enhanced AHRS. In addition to the roll and pitch, it outputs a yaw (heading)
output that is referenced to the Earth's magnetic field and calibrated sensor data: 3D
acceleration, 3D rate of turn, 3D orientation and velocity increments (∆q and ∆v) and 3D
magnetic field data. The raw sensor signals are combined and processed at a high frequency to
produce a real-time data stream with the device’s 3D orientation (roll, pitch and yaw) up to 400
Hz.
In contrast to the MTi-630, the MTi-630R comes as a robust (IP68) module.
MTi-670(G) GNSS/INS
The MTi-670 provides a GNSS/INS solution offering a position and velocity output in addition to
orientation estimates. The MTi-670 uses advanced sensor fusion algorithms developed by
Xsens to synchronize the inputs from the module’s on-board gyroscope, accelerometer,
magnetometer and barometer, with the data from an external GNSS receiver. The raw sensor
signals are combined and processed at a high frequency to produce a real-time data stream
with the device’s 3D position, velocity and orientation (roll, pitch and yaw) up to 400 Hz.
In contrast to the MTi-670, the MTi-670G comes as a robust (IP68) module with an integrated
GNSS receiver.

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MTi-680(G) RTK GNSS/INS
The MTi-680 provides a GNSS/INS solution offering a centimeter-accurate position and velocity
output in addition to orientation estimates. The MTi-680 uses advanced sensor fusion
algorithms developed by Xsens to synchronize the inputs from the module’s on-board
gyroscope, accelerometer, magnetometer and barometer, with the data from an external, RTK-
enabled GNSS receiver. The raw sensor signals are combined and processed at a high
frequency to produce a real-time data stream with the device’s 3D position, velocity and
orientation (roll, pitch and yaw) up to 400 Hz.
In contrast to the MTi-680, the MTi-680G is a robust tracker that uses an internal L1/L2 RTK
enabled GNSS receiver.
[1] The UART port is not available on robust trackers (MTi-630R, MTi-670G, MTi-680G).

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Sensor Specifications
Sensor Specifications
MTi 600-series performance specifications
MTi 600-series sensor specifications
This section presents the performance and the sensor component specifications for the
calibrated MTi-6x0 series products. Each product has passed the Xsens calibration process
individually. The Xsens calibration procedure calibrates for many parameters, including bias
(offset), alignment of the sensors with respect to the PCB and to each other, and gain (scale
factor). All calibration values are temperature dependent and temperature calibrated. The
calibration values are stored in the non-volatile memory of the module.
In addition, some calibration parameters are continuously improved and/or re-estimated
through the on-board sensor fusion algorithms during normal operation of the product.
MTi 600-series performance specifications
Orientation performance specifications
Parameter Condition MTi-610
IMU
MTi-620
VRU
MTi-630(R)
AHRS
MTi-670(G)
GNSS/INS
MTi-680(G)
RTK GNSS/INS
Roll/Pitch
Static [RMS] N/A 0.2º 0.2º 0.2º 0.2º
Dynamic
(car, 25m/s) [RMS]
N/A 0.25º 0.25º 0.25º 0.25º
Yaw Dynamic
(car, 25m/s) [RMS]
N/A Unreferenced 1º 0.8º 0.5º
Position and velocity performance specifications for MTi-670-DK and MTi-670G-SK
Parameter Direction Specification Dynamic
(car, 25m/s)
Position
Horizontal [CEP] <1.0 m <1.0 m
Vertical [CEP] 2.0 m 2.0 m
Velocity 3D [RMS] 0.05 m/s 0.05 m/s
Position and velocity performance specifications for MTi-680-DK and MTi-680G with RTK
correction signals provided

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Parameter Direction Specification Dynamic
(car, 25m/s)
Position
Horizontal [CEP] 0.01 m <0.05 m
Vertical [CEP] 0.1 m 0.1 m
Velocity 3D [RMS] 0.05 m/s 0.05 m/s
The specifications mentioned in the tables above are for Development/Starter Kit reference
designs.
MTi 600-series sensor specifications
MTi 600-series gyroscope specifications
Gyroscope specification[1] Unit Value
Standard full range [°/s] ±2000
In-run bias stability [°/h] 8
Bandwidth (-3dB) [Hz] 520
Noise density [°/s/√Hz] 0.007
g-sensitivity (calibrated) [°/s/g] 0.001
Non-linearity [%FS] 0.1
Scale Factor variation [%] 0.5 (typical)
1.5 (over life)
MTi 600-series accelerometer specifications
Accelerometer[1] Unit Value
Standard full range [g] ±10
In-run bias stability (x, y) [µg] 10
In-run bias stability (z) [µg] 15
Bandwidth (-3dB) [Hz] 500
Noise density [µg/√Hz] 60

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Accelerometer[1] Unit Value
Non-linearity [%FS] 0.1
MTi 600-series magnetometer specifications
Magnetometer[1] Unit Value
Standard full range [G] ±8
Non-linearity [%] 0.2
Total RMS noise [mG] 1
Resolution [mG] 0.25
MTi 600-series barometer specifications
Barometer[1] Unit Value
Full range [hPa] 300-1250
Total RMS Noise [Pa] 1.2
Relative accuracy [Pa] ±8 [2]
MTi 600-series orthogonality specifications
Parameter[1] Unit Value
Non-orthogonality (accelerometer) [°] 0.05
Non-orthogonality (gyroscope) [°] 0.05
Non-orthogonality (magnetometer) [°] 0.05
MTi-670G and MTi-680G internal GNSS receiver specifications
GNSS[1] Unit Value Note
Acquisition Cold
start
[s] 24 [3]
Hot start [s] 2
Convergence time RTK [s] < 10 [4] MTi-680G
only
Horizontal pos. accuracy PVT [m] 1.5

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GNSS[1] Unit Value Note
RTK[5] [m] 0.01 MTi-680G
only
Vertical pos. accuracy RTK[5] [m] 0.01 MTi-680G
only
Supported GNSS signals:
GPS L1C/A [MHz] 1575.42
L2C [MHz] 1227.60
GLONASS L1OF [MHz] 1598.0 -
1605.4
L2OF [MHz] 1242.9 –
1248.6
Galileo E1-B/C [MHz] 1575.42
E5b [MHz] 1207.14
BeiDou B1l [MHz] 1561.098
B2l [MHz] 1207.14
[1] As Xsens continues to update the sensors on the module, these specifications are subject to
change.
[2] Equivalent to 0.5 m.
[3] Using GPS + GLONASS + Galileo + BeiDou.
[4] < 30 s for GPS only.
[5] Measured using 1 km baseline and patch antennas with good ground planes. Does not
account for possible antenna phase center offset errors.

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Functional description
Functional description
Pin description module
Pin description robust trackers (MTi-630R/670G/680G)
Peripheral interfaces
CAN (Controller Area Network)
RS232 with RTS/CTS flow control
UART
RTCM input port
This chapter describes the MTi 600-series pinout and gives details about the supported
communication interfaces.
Pin description module
The pin map below shows the peripheral interfaces.
Pin configuration of the MTi 600-series module (bottom view)
Pin descriptions of the MTi 600-series module
Pin Name I/O type Description
1 VIN PWR Power input
2 GND PWR Ground
3 CAN_H I/O CAN bus differential high side
4 CAN_L I/O CAN bus differential low side

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Pin Name I/O type Description
5 RS232_TxD O RS232 transmitter output to host
6 RS232_RTS O RS232 Ready To Send output to host
7 RS232_RxD I RS232 receiver input from host
8 RS232_CTS I RS232 Clear To Send input from host
9 SYNC_IN1 I Multifunctional synchronization input
10 SYNC_IN2 I Multifunctional synchronization input
11 GNSS_TxD[1] O RS232 transmitter output to GNSS
module
12 GNSS_RxD9 I RS232 receiver input from GNSS
module
13 SYNC_OUT O Configurable synchronization output
14 GND PWR Ground
15 UART_TxD O UART transmitter output
16 UART_RxD I UART receiver input
[1] Only available for MTi-670/680. Do not connect for other models.
Pin description robust trackers (MTi-630R/670G/680G)
The figure below shows the three connectors on the rugged housing of the MTi-670G/680G.
The MTi-630R only features the Host Interface connector.

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Connectors and pin numbers on the MTi-670G/680G housing
The table below shows the pin descriptions of the MTi-630R/670G/680G Host Interface
connector.
Pin descriptions MTi-630R/670G/680G Host Interface
Pin Name I/O type Description
1 CAN_H I/O CAN bus differential high side
2 CAN_L I/O CAN bus differential low side
3 SYNC_IN1 I Multifunctional synchronization input
4 SYNC_IN2 I Multifunctional synchronization input
5 VIN PWR Power input
6 RS232_CTS I RS232 Clear To Send input from host
7 RS232_RxD I RS232 receiver input from host
8 RS232_TxD O RS232 transmitter output to host
9 RS232_RTS O RS232 Ready To Send output to host
10 GND PWR Ground
11 SYNC_OUT O Configurable synchronization output
12 GND PWR Ground

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The table below shows the pin descriptions of the MTi-680G RTCM corrections connector.
The MTi-680G RTCM corrections connector is also present on the MTi-670G, but it is
The MTi-680G RTCM corrections connector is also present on the MTi-670G, but it is
unused. It should therefore be left unconnected.
unused. It should therefore be left unconnected.
Pin descriptions MTi-680G RTCM corrections connector
Pin Name I/O type Description
1 V_BCKP PWR Backup supply for GNSS (3V3).
2 GND PWR Ground
3 RTCM_RxD I RS232 receiver input from host
4 RTCM_TxD O RS232 transmitter output to host
Peripheral interfaces
The MTi 600-series supports CAN, RS232, and UART interfaces for host communication. For
more detailed information on the interfaces, please refer to the MTi 600-series Hardware
Integration Manual.
CAN (Controller Area Network)
A Controller Area Network (CAN bus) is a robust standard designed to allow communication
between devices in applications without a host computer. The CAN interface of the MTi-600
does not include a termination resistor. It can be used in a CAN bus that already incorporates
the required termination. If used in a single device connection, a 120 Ω termination resistor
needs to be added between the CAN_H and CAN_L pins.
RS232 with RTS/CTS flow control
The RS232 interface complies with the standard RS232 voltage levels. It includes hardware flow
control through the RTS and CTS lines; the CTS line needs to be pulled up to allow the MTi to
transmit its data. For more information, refer to the Hardware Integration Manual.
UART
The UART interface can be used to directly connect to an MCU at 3.3 V IO-levels. The user can

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configure the MTi 600-series module to communicate over UART. The UART frame
configuration is 8 data bits, no parity and 1 stop bit (8N1). The UART protocol only has the TX
and RX lines without any flow control.
Due to the rugged build, the UART port is not available on robust trackers (MTi-630R, MTi-670G,
MTi-680G).
RTCM input port
The MTi-680G RTCM corrections connector is also present on the MTi-670G, but it is
The MTi-680G RTCM corrections connector is also present on the MTi-670G, but it is
unused. It should therefore be left unconnected.
unused. It should therefore be left unconnected.
The RTCM input port on the MTi-680G can be used to provide RTCM correction messages. The
port uses RS232 signalling with 8 data bits, no parity and 1 stop bit. The default baud rate on
this port is 38400 bit/s, but a higher baud rate can be configured. Refer to the table below for
available baud rates. Setting the baud rate is possible using MT Manager or using low level
commands. Please refer to the low-level communication document for details on the
SetPortConfig command and how to configure it.
The RTCM input port also outputs a GGA message at a 1 Hz interval. This GGA message is
often required by NTRIP providers.
RTCM input port baud rates
baud rate [bit/s]
38k4 (default)
57k6
115k2
230k4
460k8
921k6