Menu
Xsens MTi-30 AHRS User Manual
Also see for MTi-10 IMU: User manual
                                                      | |
Contents
| 
5 Document MT0605P.2018.E© Xsens Technologies B.V. MTi User Manual3 IntroductionThis manual gives an overview of the 5th generation products and its usage. For previous generations,refer to User Manual revision I (20 December 2016). Refer to section 3.2.5 to identify the generation ofyour MTi. The MTi product portfolio from Xsens currently has 11 family members ranging in functionalityfrom inertial measurement units (IMU’s) to a fully integrated GNSS/INS solution. All products contain a3D inertial sensor assembly (ISA: gyroscopes and accelerometers) and 3D magnetometers, withoptionally a barometer and GNSS receiver.The MTi product range is divided in three series, the MTi 1-series, the MTi 10-series and the MTi 100-series. The MTi 10-series is Xsens’ entry level model with robust accuracy and a limited range of IOoptions. The 100-series is a new class of MEMS IMU’s, orientation and position sensor modules offeringunprecedented accuracies and a wide array of IO interfaces. The MTi 1-series is a low-cost module forSMD assembly. Refer to [MTI_1] for more information on the MTi 1-series.All MTi’s have a powerful multi-processor core. It processes IMU, magnetometer and barometer signalswith extremely low latencies, and gives several outputs: calibrated 3D linear acceleration, rate of turn(gyroscope data), (earth) magnetic field and atmospheric pressure (100-series only) data along withsensor fusion estimates of roll, pitch and yaw. The MTi-G-710 GNSS/INS also offers 3D position and3D velocity. Over 50 various output formats can be retrieved directly from the MTi. Refer to [LLCP] formore information on the available outputs per device.This documentation describes the use, basic communication interfaces and specifications of all the 7MTi’s in the MTi 10-series and MTi 100-series. Where they differ is clearly indicated. All products aredesigned to be interchangeable from a mechanical and software interface point of view.3.1 MTi 10-seriesThe MTi 10-series is the basic product range of the MTi product portfolio,offering inertial and orientation data at an affordable price. The MTi 10-series consists of 3 products that have various integration levels.The MTi-10 series can easily be recognized by the silver base plate.There are no visual differences among the MTi-10 IMU, MTi-20 VRU andMTi-30 AHRS devices, other than their label marking3.1.1 MTi-30 AHRSThe MTi-30 AHRS is a full gyro-enhanced Attitude and Heading Reference System (AHRS). It givevarious outputs: drift-free roll, pitch and true/magnetic North referenced yaw, plus sensormeasurements: 3D acceleration, 3D rate of turn and 3D earth-magnetic field data. All products of theMTi 10-series can also give processed data output from the strapdown integration algorithm (orientationand velocity increments ∆q and ∆v).3.1.2 MTi-20 VRUThe MTi-20 VRU is a 3D vertical reference unit (VRU), which means that it gives the same data as theMTi-30, except for the referenced yaw. The yaw is unreferenced, though still superior to just gyroscopeintegration, when using the gyro bias estimation techniques available.3.1.3 MTi-10 IMUThe MTi-10 IMU is a 3D inertial measurement unit (IMU) that gives 3D acceleration, 3D rate of turn and3D earth-magnetic field data, so it does not process data to orientation. The MTi-10-IMU can be set toa data output generated by the strapdown integration algorithm (orientation increments ∆q and velocityincrements ∆v).Figure 1: MTi 10-series |
Related manuals for Xsens MTi-10 IMU
This manual is suitable for:
Product
Learn More
Legal
Copyright © 2024 OneStart. All Rights Reserved