Xsens MTi Series User manual

Xsens Technologies B.V.
Xsens North America, Inc.
Pantheon 6a
P.O. Box 559
7500 AN Enschede
The Netherlands
phone [phone]
fax [phone]
e-mail [e-mail]
internet www.xsens.com
101 N, Pacific Coast Hwy
Suite 101
El Segundo, CA 90245
USA
phone [phone]
fax [phone]
e-mail [e-mail]
internet www.xsens.com
Document MT1600P, Revision 2019.A, 29 Aug 2019
General information for MTi series
MTi Family Reference Manual

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Document MT1600P.2019.A
© Xsens Technologies B.V.
MTi Family Reference Manual
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© 2005-2019, Xsens Technologies B.V. All rights reserved. Information in this document is subject to
change without notice. Xsens, MVN, MotionGrid, MTi, MTx and Awinda are registered trademarks or
trademarks of Xsens Technologies B.V. and/or its parent, subsidiaries and/or affiliates in The
Netherlands, the USA and/or other countries. All other trademarks are the property of their respective
owners.

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Table of Contents
1XSENS CUSTOMER SUPPORT AND BASE................................................................................ 6
2INTRODUCTION ............................................................................................................................ 7
2.1 FROM IMU TO GNSS/INS ............................................................................................................ 8
2.1.1 IMU .................................................................................................................................... 8
2.1.2 VRU ................................................................................................................................... 8
2.1.3 AHRS ................................................................................................................................. 8
2.1.4 GNSS/INS.......................................................................................................................... 8
2.2 XSENS MTI HARDWARE PLATFORMS .............................................................................................. 9
2.2.1 MTi 1-series ....................................................................................................................... 9
2.2.2 MTi 600-series ................................................................................................................... 9
2.2.3 MTi 10-series ..................................................................................................................... 9
2.2.4 MTi 100-series ................................................................................................................... 9
3GETTING STARTED WITH THE MTI .......................................................................................... 11
3.1 OVERVIEW MTI DEVELOPMENT KIT.............................................................................................. 11
3.1.2 MT Software Development Kit (MT SDK)........................................................................ 13
3.1.3 Low-level Communication................................................................................................ 13
3.1.4Terms of use of MT Software Suite ................................................................................. 13
4MTI SYSTEM OVERVIEW ........................................................................................................... 15
4.1 TEST AND CALIBRATION .............................................................................................................. 15
4.2 COORDINATE SYSTEMS ............................................................................................................... 15
4.2.1 Calibrated inertial data and magnetic field data .............................................................. 15
4.2.2 Orientation increment and Velocity increment (dq and dv) ............................................. 16
4.2.3 Orientation data ............................................................................................................... 17
4.2.4 Velocity data .................................................................................................................... 18
4.2.5 Position data .................................................................................................................... 19
4.3 PHYSICAL SENSOR MODEL........................................................................................................... 19
4.3.1 Calibrated ∆q and ∆v outputs .......................................................................................... 20
4.3.2 Calibrated inertial and magnetic data outputs ................................................................. 20
4.3.3 High-rate (HR) inertial data outputs ................................................................................. 20
4.3.4 Free acceleration ............................................................................................................. 21
4.4 XSENS SENSOR FUSION ALGORITHMS ......................................................................................... 22
4.4.1 Internal Sensor Bias Estimation....................................................................................... 22
4.4.2 Roll and Pitch estimation ................................................................................................. 22
4.4.3 Heading/yaw estimation................................................................................................... 23
4.4.4 Velocity and Position estimation ...................................................................................... 23
4.4.5 Initialization ...................................................................................................................... 24
4.4.6 Filter Profile options ......................................................................................................... 24
4.4.7 Additional setting options and features............................................................................ 24
4.5 MTI SERIES INTERFACE OPTIONS ................................................................................................. 26
4.6 TIMING AND SYNCHRONIZATION ................................................................................................... 26
5INPUT AND OUTPUT SPECIFICATION...................................................................................... 27
5.1 OVERVIEW OF DATA OUTPUT PROTOCOLS .................................................................................... 27
5.2 OVERVIEW OF DATA INPUTS......................................................................................................... 27
5.3 BUILT-IN SELF-TEST .................................................................................................................... 27
5.4 TIMESTAMP AND PACKET COUNTER OUTPUT ................................................................................. 27
5.5 STATUS WORD ............................................................................................................................ 28

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6INSTALLATION TIPS AND TRICKS ........................................................................................... 29
6.1TRANSIENT ACCELERATIONS........................................................................................................ 29
6.2 VIBRATIONS................................................................................................................................ 29
6.3 MAGNETIC MATERIALS AND MAGNETS........................................................................................... 29
7WARRANTY AND LIABILITY...................................................................................................... 31
7.1 CUSTOMER SUPPORT ................................................................................................................. 31

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List of Figures
Figure 1: From IMU to GNSS/INS ........................................................................................................... 8
Figure 2: MTi 1-series.............................................................................................................................. 9
Figure 3: MTi 600-series.......................................................................................................................... 9
Figure 4: MTi 10-series............................................................................................................................ 9
Figure 5: MTi 100-series.......................................................................................................................... 9
Figure 6: MTi Development Kit .............................................................................................................. 11
Figure 7: Default coordinate system of MTi 1-series............................................................................. 16
Figure 8: Default coordinate system of MTi 600-series......................................................................... 16
Figure 9: Right hand rule ....................................................................................................................... 17
List of Tables
Table 1: MTi product documentation overview........................................................................................ 7
Table 2: Xsens MTi portfolio overview. ................................................................................................. 10
Table 3 Description of hardware components of Development Kit ....................................................... 11
Table 4 Description of software components of Development Kit......................................................... 12
Table 5: Conditions for the use of the MT Software Suite..................................................................... 13
Table 6: Data outputs with reference coordinate systems .................................................................... 16
Table 7: Yaw in different coordinate systems (applies only to VRU/AHRS and GNSS/INS product types).
The MTi is assumed to be mounted with its roll-axis (X) aligned with the roll-axis of the vehicle (front of
the vehicle). ........................................................................................................................................... 18
Table 8: Output specifications ∆q and ∆v outputs ................................................................................. 20
Table 9: Output specifications inertial and magnetometer data outputs ............................................... 20
Table 10: Output specifications high rate calibrated inertial data outputs............................................. 20
Table 11: Supplementary features and settings.................................................................................... 24
Table 12: overview of interface options in MTi portfolio ........................................................................ 26

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1 Xsens Customer Support and BASE
BASE by Xsens is an online support platform with a knowledge base and community forum on 3D motion
tracking technology and products. This enables faster and easier system integration by offering a large
source of high-quality technical information.
Knowledge base (FAQ)
The knowledge base provides articles written by Xsens Field Application Engineers and Product
Specialists. Topics discussed are best practices, tips and tricks for the use of Xsens’ products and inside
information about installation, MEMS sensors and GNSS receivers, hardware design, CAD-files, system
architecture, low-level communication and sensor fusion algorithms.
Community forum
The community forum is an online forum that gives direct access to Xsens’ engineers and other Xsens
users. As users may have faced similar challenges, the answer may already be on the forum.
The knowledge base and user community are searchable simultaneously. A search query thus shows
results irrespective of the source.
Please visit https://base.xsens.com to complete your 1-minute registration.
Additionally, tutorial videos on products, features and releases are available on BASE by Xsens via:
https://tutorial.xsens.com/.

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2 Introduction
This manual gives an overview of the latest generation Xsens products (MTi 1-series and MTi 600-
series) and their usage. For previous generations, refer to MTi User Manual
1
. The MTi product portfolio
from Xsens currently has family members ranging in functionality from Inertial Measurement Units
(IMU’s), Vertical Reference Unit (VRU), Attitude and Heading Reference System (AHRS) to a fully
integrated GNSS/INS (Global Navigation Satellite System/Inertial Navigation System). All products
contain a 3D IMU composed by a gyroscope and an accelerometer plus a 3D magnetometer, with
optionally a barometer and GNSS receiver.
The MTi product range is divided in several series, the MTi 1-series, the MTi 600-series, the MTi 10-
series and the MTi 100-series.
The MTi 1-series is a low-cost Surface-Mount Devices (SMD) module.
The MTi 600-series is a cost effective product line for easy integration.
The MTi 10-series
2
is Xsens’ entry level model with robust accuracy.
The MTi 100-series is a Xsens’ proven high end class of MEMS IMU’s, orientation and position sensor
modules.
Table 1 summarizes all available official documents for the Xsens MTi product line. It is highly
recommended to review all documents applicable to your Xsens Motion Tracker.
Table 1: MTi product documentation overview1
MTi 1-series
MTi 600-series
MTi 10/100-series
MTi Family Reference Manual
MTi User Manual
MTi 1-series Datasheet
MTi 600-series Datasheet
MTi 1-series DK User Manual
MTi 600-series DK User Manual
MTi 1-series HW Integration Manual
MTi 600-series HW Integration Manual
MT CAN Protocol Documentation
MT Manager Manual
Magnetic Calibration Manual
MT Low Level Communication Protocol Documentation
Firmware Updater User Manual
1
Links to the latest available documentation can be found via the following link: Xsens MTi Documentation
2
not recommended for new designs

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2.1 From IMU to GNSS/INS
Within each MTi series, Xsens offers several product variants. Each variant is based on a firmware
version which enables different functionalities. Figure 1 summarizes the functionality of each variant.
Figure 1: From IMU to GNSS/INS
2.1.1 IMU
The IMU variant is an Inertial Measurement Unit that measures 3D acceleration and 3D rate of turn with
the addition of 3D magnetic field data and, depending on the product, barometric pressure. It does not
fuse sensor data to deliver orientation estimates. The IMU can also be configured to output data
generated by the strapdown integration algorithm (orientation increments ∆q and velocity increments
∆v).
2.1.2 VRU
The Vertical Reference Unit (VRU) adds the first layer of algorithms which uses gravity as a reference
for roll and pitch calculations. Essentially it delivers the same data as the AHRS, except for the yaw.
The yaw estimate of a VRU product is unreferenced, which means that it is computed without any
geographic/magnetic reference, though still superior to just gyroscope integration (e.g., when using the
gyro bias estimation techniques). All data outputs from the IMU are also available in this product version.
The AHS feature is also available in this product variant (see also chapter 4.4.7)
2.1.3 AHRS
This is the full Attitude and Heading Reference System (AHRS). It gives various outputs: roll, pitch and
heading (true magnetic North referenced yaw). In addition, all functionality of the IMU and VRU are also
available in this product variant.
2.1.4 GNSS/INS
The GNSS/INS variant is a product with an interface to an external or internal GNSS receiver as well as
a barometer. It provides roll, pitch, yaw/heading, as well as 3D position, 3D velocity and time data. In
addition, all data outputs of the IMU, VRU and AHRS are also available in this product variant.

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2.2 Xsens MTi hardware platforms
This section summarizes all available Xsens MTi platforms (see Table 2).
2.2.1 MTi 1-series
The MTi 1-series is the Xsens’ smallest (12.1mm x 12.1mm), lightest (<1gr)
and most cost effective product suitable for SMD (Surface Mountable
Device) integration. It is compatible with the JEDEC PLCC-28 standard
footprint. Designed for integration in high volume applications.
Available in IMU, VRU, AHRS and GNSS/INS (with external GNSS
receiver) product versions.
Please refer to the MTi 1-series Datasheet for more information.
2.2.2 MTi 600-series
The MTi 600-series product line is designed to be lightweight, cost effective
and easy to integrate. It can be integrated in two ways: either with the
header facing downwards, directly mounted on a PCB, or standalone, using
a flat cable for communication. Additionally it features a CANbus interface.
Available in IMU, VRU, AHRS and GNSS/INS (with external GNSS
receiver) product versions.
Please refer to the MTi 600-series Datasheet for more information.
2.2.3 MTi 10-series
The MTi 10-series offers inertial and orientation data at an affordable price.
It features a sturdy anodized aluminium housing, and robust push/pull
connectors. The MTi-10 series can easily be recognized by the aluminium
silver base plate.
Available in IMU, VRU and AHRS product versions.
Please refer to the MTi User Manual for more information. This product is
not recommended for new designs.
2.2.4 MTi 100-series
The MTi-100 series is the high-performance product range of the MTi
product portfolio, with accuracies surpassing conventional MEMS motion
trackers, because of the use of superior gyroscopes and a new optimization
filter, going beyond standard Extended Kalman Filter implementations. In
addition, the factory calibration is more accurate, repeatable and robust.
The MTi 100-series can be recognized by the dark-grey/black base plate
and the small barometer holes on one side of the casing. The MTi-G-710
has an extra SMA connector to allow a GNSS antenna to be attached.
Available in IMU, VRU, AHRS and GNSS/INS (with internal GNSS receiver)
product versions.
Please refer to the MTi User Manual for more information.
Figure 2: MTi 1-series
Figure 3: MTi 600-series
Figure 4: MTi 10-series
Figure 5: MTi 100-series
including the MTi-G-710

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Table 2: Xsens MTi portfolio overview.
MTi 1-series
MTi 600-series
MTi 10-series
MTi 100-series
IMU
MTi-1 IMU
MTi-610 IMU
MTi-10 IMU
MTi-100 IMU
VRU
MTi-2 VRU
MTi-620 VRU
MTi-20 VRU
MTi-200 VRU
AHRS
MTi-3 AHRS
MTi-630 AHRS
MTi-30 AHRS
MTi-300 AHRS
GNSS/INS
MTi-7 GNSS/INS
MTi-670 GNSS/INS
-
MTi-G-710 GNSS/INS
This document focusses mainly on the MTi 1-series and MTI 600-series. For more information on the
MTi 10-series and MTi 100-series, please refer to the MTi User Manual.