Xsens MTi系列用户手册：5th generation更新

需积分: 9 4 浏览量更新于2024-07-14 收藏 3.43MB PDF 举报

"MTi_usermanual.pdf 是Xsens Technologies B.V.提供的用户手册，主要针对MTi 10系列和MTi 100系列的第五代产品。手册包含了传感器规格、硬件连接等信息，并经过多次修订以适应产品更新和技术改进。" MTi系列传感器是Xsens公司开发的一系列高精度运动跟踪设备，广泛应用于各种领域，如机器人、无人机、车辆动态测试等。这份用户手册详细介绍了MTi 10系列和MTi 100系列的第五代产品，这些产品具有先进的运动跟踪和姿态测量能力。手册中涵盖了以下几个关键知识点： 1. **产品规格**：手册提供了传感器的具体规格，包括但不限于传感器的测量范围、精度、刷新率和功耗等。第五代产品通常会提供更优的性能和更高的稳定性。 2. **硬件连接**：详述了如何连接和配置MTi传感器，包括物理接口（如串行、SPI、I2C或USB）以及相关的电气参数，确保用户能够正确地将传感器集成到他们的系统中。 3. **设置和配置**：指导用户如何根据应用需求调整传感器的参数，如滤波器配置、输出数据速率、校准等，以优化性能。 4. **软件接口**：可能包含与传感器通信的API文档，解释了如何通过编程语言（如C++、Python等）读取和控制传感器。 5. **应用示例**：可能提供了一些具体应用场景的示例，帮助用户理解和应用传感器数据，比如在机器人导航、无人机飞行控制中的应用。 6. **故障排查和维护**：手册中会包含常见问题解答和故障排除步骤，帮助用户快速解决可能出现的问题。 7. **修订历史**：每次版本更新都会记录变更内容，便于用户了解最新的改进和修正，例如2018.A版增加了关于MTi-G-710在使用汽车滤波配置时的安装注意事项，2018.C版更新了性能规格。 "MTi_usermanual.pdf"是MTi系列传感器用户的必备参考资料，它提供了全面的技术支持和操作指南，确保用户能充分利用这些传感器的功能。

Document MT0605P.2019.A

MTi User Manual

3 Introduction

This manual gives an overview of the 5

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 of

your MTi. The MTi product portfolio from Xsens currently has 11 family members ranging in functionality

from inertial measurement units (IMU’s) to a fully integrated GNSS/INS solution. All products contain a

3D inertial sensor assembly (ISA: gyroscopes and accelerometers) and 3D magnetometers, with

optionally 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 IO

options. The 100-series is a new class of MEMS IMU’s, orientation and position sensor modules offering

unprecedented accuracies and a wide array of IO interfaces. The MTi 1-series is a low-cost module for

SMD 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 signals

with 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 with

sensor fusion estimates of roll, pitch and yaw. The MTi-G-710 GNSS/INS also offers 3D position and

3D velocity. Over 50 various output formats can be retrieved directly from the MTi. Refer to [LLCP] for

more information on the available outputs per device.

This documentation describes the use, basic communication interfaces and specifications of all the 7

MTi’s in the MTi 10-series and MTi 100-series. Where they differ is clearly indicated. All products are

designed to be interchangeable from a mechanical and software interface point of view.

3.1 MTi 10-series

The 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 and

MTi-30 AHRS devices, other than their label marking

3.1.1 MTi-30 AHRS

The MTi-30 AHRS is a full gyro-enhanced Attitude and Heading Reference System (AHRS). It give

various outputs: drift-free roll, pitch and true/magnetic North referenced yaw, plus sensor

measurements: 3D acceleration, 3D rate of turn and 3D earth-magnetic field data. All products of the

MTi 10-series can also give processed data output from the strapdown integration algorithm (orientation

and velocity increments ∆q and ∆v).

3.1.2 MTi-20 VRU

The MTi-20 VRU is a 3D vertical reference unit (VRU), which means that it gives the same data as the

MTi-30, except for the referenced yaw. The yaw is unreferenced, though still superior to just gyroscope

integration, when using the gyro bias estimation techniques available.

3.1.3 MTi-10 IMU

The MTi-10 IMU is a 3D inertial measurement unit (IMU) that gives 3D acceleration, 3D rate of turn and

3D earth-magnetic field data, so it does not process data to orientation. The MTi-10-IMU can be set to

a data output generated by the strapdown integration algorithm (orientation increments ∆q and velocity

increments ∆v).

Figure 1: MTi 10-series

Document MT0605P.2019.A

MTi User Manual

3.2 MTi 100-series

The MTi-100 series is the high-performance product

range of the MTi product portfolio, with accuracies

surpassing conventional MEMS AHRS’s, because of

the use of superior gyroscopes and a new optimization

filter, going beyond (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 base plate and the holes on one side of the

casing. These holes are used for the adaptation of the

inside air pressure to atmospheric pressure, required

for a proper functioning of the barometer. Note that the

electronics inside are protected with a vent that keeps

the casing IP67 rated. There are no visual differences

among the MTi-100 IMU, MTi-200 VRU and MTi-300

AHRS, other than their label markings. The MTi-G-710 has an extra SMA connector to allow a

GPS/GNSS antenna to be attached.

3.2.1 MTi-G-710 GNSS/INS

The flagship of the MTi product portfolio is the MTi-G-710 GNSS/INS, a fully integrated solution that

includes an onboard GNSS receiver (GPS, GLONASS, BeiDou, Galileo and QZSS). The MTi-G-710-

GNSS/INS can thus not only give GNSS-enhanced 3D orientation output; it also gives AHRS-

augmented 3D position and velocity outputs. Furthermore, it provides 3D sensors data, such as

acceleration, rate of turn, magnetic field, the PVT (position, velocity, time) data of the GNSS receiver

and static pressure. Data generated from the strapdown integration algorithm (orientation and velocity

increments ∆q and ∆v) are available, as along with other processed data, at 400 Hz.

3.2.2 MTi-300 AHRS

The MTi-300 AHRS is a full gyro-enhanced Attitude and Heading Reference System (AHRS). It gives

drift-free roll, pitch and true/magnetic North referenced yaw outputs. It also gives sensors data and

processed data from the strapdown integration algorithm as well as described in section 3.2.1.

3.2.3 MTi-200 VRU

The MTi-200 VRU is a 3D vertical reference unit (VRU) and this unit runs the Xsens sensor fusion

algorithm from the MTi-300 as well. The difference between the data of the MTi-300 and MTi-200 is that

yaw is unreferenced, though the yaw is still much better than just integrating rate of turn when using the

gyro bias estimation techniques available. The MTi-200 also comes with Active Heading Stabilization.

3.2.4 MTi-100 IMU

The MTi-100 IMU is a 3D inertial measurement unit (IMU) that gives 3D acceleration, 3D rate of turn

and 3D earth-magnetic field data. The MTi-100-IMU can also be configured that it gives data generated

by the strapdown integration algorithm (orientation increments ∆q and velocity increments ∆v).

Figure 2: MTi 100-series

including the MTi-G-710

剩余55页未读，继续阅读

饕餮不饕餮

粉丝: 9
资源: 5

Xsens MTi系列用户手册：5th generation更新

Xsens MTi系列用户手册：AHRS, IMU, VRU技术规格

雷达信号处理源码：MTI、脉冲雷达与FMCW雷达实现

雷达信号分析MTI与MTD处理技术研究

MTi and MTx user Manual.pdf

CFAR_MTI_rxh2.rar_CFAR检测matlab_MATLAB cfar_cfar matlab_mti cfar

radar_matlab2019.rar_MTI_MTI radar_MTI radar _mti mtd_pc

Stragger_MTI_code.rar_MTI_MTI滤波器_mti 设计_参差_重频

LFM_pc_MTI_MTD.rar_LFM 脉压_LFM_pc_MTI_MTD_LFM脉压_MTI_MTD_lfm脉压仿真

StaMPS_Manual.pdf

radar_matlab2018.rar_MTI_MTI radar _steamh41_studyingnwe_雷达

最新资源