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MTi User Manual MTi 10-series and MTi 100-series Document MT0605P, Revision F, 27 February 2015 Xsens Technologies B.V. Xsens North America, Inc. Pantheon 6a phone +31 (0)88 973 67 00 10557 Jefferson Blvd, phone 310-481-1800 P.O. Box 559
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    Xsens Technologies B.V. Xsens North America, Inc.  Pantheon 6a P.O. Box 559 7500 AN Enschede The Netherlands phone +31 (0)88 973 67 00  fax +31 (0)88 973 67 01  e-mail info@xsens.com   internet www.xsens.com  10557 Jefferson Blvd, Suite C CA-90232 Culver City USA phone 310-481-1800 fax 310-416-9044  e-mail info@xsens.com internet www.xsens.com  Document MT0605P, Revision F, 27 February 2015 MTi 10-series and MTi 100-series MTi User Manual     Document MT0605P.F © Xsens Technologies B.V. MTi User Manual ii Revisions Revision Date By Changes  A 26 Sep 2012 MHA Initial release B 18 Dec 2012 MHA Included MTi-G-700 C 07 May 2013 MHA D 28 October 2013 MHA Added NMEA, StartSampling, vibration mounts E 17 January 2014 MHA Added product code, 3V3 and remark on termination resistor F 27 February 2015 MHA Added RS485 pin interfaces, corrected OEM mechanical drawing, added common ground schematic  Added cable specifications  Added SetNoRotation description  Added remark about ECEF fixed point representation Corrected bandwidth for 100-series gyroscopes  Added MTi-G-710 © 2005-2015, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda and KiC 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.   Document MT0605P.F © Xsens Technologies B.V. MTi User Manual iii Table of Contents 1   REFERENCES  ..................................................................................................................................... 2   2   INTRODUCTION  ................................................................................................................................ 3   2.1   MT I 10- SERIES  ................................................................................................................................. 3   2.1.1   MTi-30 AHRS  ........................................................................................................................ 3   2.1.2   MTi-20 VRU  ......................................................................................................................... 3   2.1.3   MTi-10 IMU  ......................................................................................................................... 3   2.2   MT I 100- SERIES  ............................................................................................................................... 4   2.2.1   MTi-G-710 GNSS/INS  ............................................................................................................ 4   2.2.2   MTi-G-700 GPS/INS  .............................................................................................................. 4   2.2.3   MTi-300 AHRS  ...................................................................................................................... 4   2.2.4   MTi-200 VRU  ........................................................................................................................ 4   2.2.5   MTi-100 IMU  ........................................................................................................................ 4   2.2.6   Identifying device functionality using the unique Device Identifier   ............................................ 5    2.2.7    Product code  ........................................................................................................................ 5    2.3   E VOLUTION OF MT I PRODUCTS  .............................................................................................................. 6   2.4   O VERVIEW MT I D EVELOPMENT K IT  ........................................................................................................ 7   2.4.1   Contents  .............................................................................................................................. 7    2.5   I NSTALLATION ................................................................................................................................... 8   2.5.1   Transient accelerations  ......................................................................................................... 8    2.5.2   Vibrations  ............................................................................................................................ 8    2.5.3   Magnetic materials and magnets  .......................................................................................... 9   2.6   T YPICAL U SER S CENARIOS  .................................................................................................................. 10   2.6.1   MT Software Suite  .............................................................................................................. 10    2.6.2   Getting Started with the MT Manager  .................................................................................. 11   2.6.3   Using the Software Development Kit (SDK)  ........................................................................... 12    2.6.4   Direct low-level communication with MTi   ............................................................................. 14   2.6.5   Migration from MT SDK 3.3 (CMT)  ....................................................................................... 14   2.6.6   Terms of use MT Software Suite  ........................................................................................... 15    3   MTI SYSTEM OVERVIEW  .................................................................................................................. 16   3.1   C ALIBRATION  ................................................................................................................................. 16   3.2   X SENS K ALMAN F ILTER (XKF3 I )  FOR MT I 10- SERIES  .................................................................................. 16   3.2.1   Using the acceleration of gravity to stabilize inclination (roll/pitch)  ........................................ 16    3.2.2   Using the Earth magnetic field to stabilize yaw   ..................................................................... 17    3.2.3   Estimating gyro bias in magnetic disturbed environments  ..................................................... 17    3.2.4   Initialization  ....................................................................................................................... 17    3.2.5    XKF3i filter profiles .............................................................................................................. 18    3.3   X SENS SENSOR FUSION ALGORITHM FOR MT I 100- SERIES  ............................................................................ 20   3.3.1   MTi 100-series filter   ............................................................................................................ 20    3.3.2   Transient accelerations  ....................................................................................................... 20    3.3.3   Magnetic distortions  ........................................................................................................... 20    3.3.4   Loss of GNSS  ...................................................................................................................... 20    3.3.5   MTi 100-series filter profiles  ................................................................................................ 20    3.3.6   MTi-G-700/710 filter profiles  ............................................................................................... 21   4   OUTPUT SPECIFICATION  .................................................................................................................. 23     Document MT0605P.F © Xsens Technologies B.V. MTi User Manual iv 4.1   O VERVIEW OF DATA OUTPUTS  ............................................................................................................. 24   4.1.1   MTData2 output in XBus protocol   ........................................................................................ 24   4.1.2   NMEA protocol   ................................................................................................................... 25    4.2   C OORDINATE SYSTEMS  ...................................................................................................................... 26   4.2.1   Calibrated inertial data and magnetic field data  ................................................................... 26    4.2.2   Delta_angle and delta_velocity  ............................................................................................ 27    4.2.3   Orientation data  ................................................................................................................. 27    4.2.4   Velocity data  ...................................................................................................................... 29   4.2.5   Position data  ...................................................................................................................... 29   4.3   O RIENTATION PERFORMANCE SPECIFICATION  ........................................................................................... 32   4.4   P OSITION AND VELOCITY PERFORMANCE SPECIFICATION (MT I -G-700/710)  ..................................................... 33   4.5   O RIENTATION OUTPUT MODES  ............................................................................................................. 34   4.5.1   Quaternion orientation output mode  ................................................................................... 34   4.5.2   Euler angles orientation output mode  .................................................................................. 35    4.5.3   Rotation Matrix orientation output mode  ............................................................................. 36    4.6   S ENSOR DATA PERFORMANCE SPECIFICATION  ........................................................................................... 38   4.6.1   Gyroscopes  ........................................................................................................................ 38    4.6.2    Accelerometers and magnetometer   ..................................................................................... 39   4.6.3   Barometer   ......................................................................................................................... 39   4.6.4   GPS/GNSS receiver  .............................................................................................................. 40    4.7   B UILT - IN SELF - TEST  .......................................................................................................................... 41   4.8   T EST AND C ALIBRATION C ERTIFICATE  ..................................................................................................... 42   4.9   S ENSORS DATA OUTPUTS .................................................................................................................... 43   4.9.1   Physical sensor model   ......................................................................................................... 43   4.9.2   Calibrated delta_q and delta_v outputs  ................................................................................ 44   4.9.3   Calibrated inertial and magnetic data outputs  ...................................................................... 44   4.9.4   Free acceleration  ................................................................................................................ 44   4.9.5   Uncalibrated raw output mode  ............................................................................................ 45    4.10   L EGACY OUTPUT MESSAGES  ................................................................................................................ 46   4.11   R ESET OF OUTPUT OR REFERENCE CO - ORDINATE SYSTEMS  ............................................................................ 48   4.12   T IMESTAMP AND PACKET COUNTER OUTPUT  ............................................................................................ 51   4.12.1   Packet counter   ................................................................................................................... 51   4.12.2   Time UTC   ........................................................................................................................... 51   4.12.3   Time stamp (Sample Time Fine)  ........................................................................................... 51   4.12.4   Setting UTC time on non- GNSS MTi’s  .................................................................................... 51   4.13   S TATUS BYTE  .................................................................................................................................. 52   5   BASIC COMMUNICATION  ................................................................................................................ 54   5.1   I NTRODUCTION  ............................................................................................................................... 54   5.2   S TATES  ......................................................................................................................................... 54   5.3   M ESSAGES  .................................................................................................................................... 55   5.3.1   Message structure  .............................................................................................................. 55    5.3.2   Message usage  .................................................................................................................. 56    5.3.3   Common messages  ............................................................................................................. 57    5.4   C OMMUNICATION T IMING  ................................................................................................................. 58   5.5   T RIGGERING AND SYNCHRONIZATION  ..................................................................................................... 61   5.5.1   External device triggers MTi (Send Latest)  ............................................................................ 61   5.5.2   Marker in MT data (Trigger Indication)  ................................................................................ 61   5.5.3   MTi triggers external devices (Interval Transition Measurement)  ........................................... 62   
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