*Page 1* *Sayfa 1*

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Document MT0512P.A Belge MT0512P.A
Xsens Technologies BV Xsens Technologies BV
Data sheet MTi 1-series Veri sayfas MTi 1 serisi
Document MT0512P, Revision A, 8 Jul 2015 Belge MT0512P, Revizyon A, 8
Temmuz 2015
*Features* *zellikler*
Full-featured AHRS on 12.1 x 12.1 mm module 12.1 x 12.1 mm modlnde
Tam zellikli AHRS
Roll/pitch accuracy (dynamic) 1.0 deg Rulo / perde hassasiyeti
(dinamik) 1.0
Heading accuracy 2.0 deg Balk hassasiyeti 2.0
Minimal requirements on host processor Ev sahibi ilemci az artlar
Uniform interface over product lifetime rn mr boyunca sabit bir
arayz
o No hardware/software interface changes o Donanm / yazlm arayz
deiiklikleri yok
o No EOL o EOL yok
Always best-in-class inertial sensors incorporated Her zaman en iyi
snfnn atalet sensrleri dahil
Industry-leading signal processing pipeline Endstri lideri sinyal
ileme hatt
(AttitudeEngine TM ) with vibration-rejection Titreim ret ile
(AttitudeEngine TM)
Robust and accurate orientation algorithm Salam ve doru
ynlendirme algoritmas
(XKF3 TM ) (XKF3 TM)
API-compatible with all Xsens' Motion Trackers API uyumlu tm Xsens'
Hareket Tracker ile
o Drivers and examples on ARM mbed TM ARM mBED TM ile o Srcler ve
rnekler
Low power (45 mW @ 3.0V) Dk g (45 mW @ 3.0V)
*Applications* *Uygulamalar*
Miniature aerial vehicles Minyatr hava aralar
Heavy machinery/agriculture Ar makine / tarm
Robotics, pedestrian dead-reckoning Robotik, yaya l hesaplama
Industrial grade VR/AR, HMD's and handheld Endstriyel dereceli VR /
AR, HMD en ve avuii
devices cihazlar
*Related Resources* lgili Kaynaklar
/www.xsens.com/MTi-1-series/ // www.xsens.com/MTi-1-series
MTi 1-series DK User Manual (MT0513P) MTI 1 serisi DK Kullanc
Klavuzu (MT0513P)
MT Low Level Communication Protocol MT Dk Seviye Haberleme
Protokol
Documentation (MT0101P) Belgeler (MT0101P)
MTi White Paper: Next generation Xsens Motion MTI Rapor: Gelecek
nesil Xsens Hareket
Trackers for Industrial applications Endstriyel uygulamalar iin
izleyiciler
*Description* *Aklama*
The MTi 1-series is a module outputting 3D orientation, MTi 1 serisi, 3D
ynlendirme k salayan bir modldr;
3D rate of turn, 3D accelerations, and 3D magnetic 3D dn hz, 3D
hzlanma ve 3D manyetik
field, depending on the product configuration. alanna, rn
yaplandrmasna bal olarak. It is Bu
available as an Inertial Measurement Unit (IMU), Bir Atalet lm Birimi
(IME) olarak temin edilebilir,
Vertical Reference Unit (VRU) or Attitude and Heading Dikey Referans
Birimi (VRU) veya Tutum ve Balk
Reference System (AHRS). Referans Sistemi (AHRS).
This fully-functional self-contained module is easy to Bu tamamen
fonksiyonel kendi kendine yeten modl
design in with limited hardware components to be Snrl donanm
bileenleri ile tasarm yapmak
added. katma. The fully documented, industry-standard Tam olarak
dokmante edilmi endstri standard
communication protocol allows for customization of the iletiim protokol,
data message in terms of data, frequency and output Veri, frekans ve
kt asndan veri mesaj
format. biim. Signals are fully processed onboard, requiring Sinyaller,
gemide tamamen ilenmi,
very little resources from the host and is very well suited Ev
sahibinden ok az kaynak ve ok uygun
for applications in simple MCU-operated environments. basit MCU ile
alan ortamlardaki uygulamalar iin.
The host can read-out the data over SPI, I 2 C or UART. Ev sahibi
Okumas olabilir SPI zerinden veri, bir C ya da UART 2.
With a roll/pitch accuracy of 1.0 RMS and yaw 1.0 RMS'lik bir makaral
/ perde hassasiyete ve sapma oranna sahip
accuracy of 2 RMS under dynamic conditions, the Dinamik koullar
altnda 2 RMS hassasiyeti,
output is excellent for control and stabilization of any ktnn
kontrol ve stabilizasyonu iin mkemmeldir.
object and navigation of eg unmanned vehicles. rnein insansz
aralarn nesne ve navigasyonu.
*Figure 1: MTi 1-series* ekil 1: MTi 1 serisi
Product rn
Output kt
MTi-1 MTI-1
IMU IMU
MTi-2 MTI-2
VRU VRU
MTi-3 MTI-3
AHRS AHRS
Motion data Hareket verileri



Magnetic field Manyetik alan



Roll/pitch Rulo / perde


Heading tracking Balk izleme


Referenced yaw Referans yaw

*3D AHRS/VRU/IMU module* 3D AHRS / VRU / IMU modl
*Data sheet MTi 1-series* Veri sayfas MTi 1 serisi
------------------------------------------------------------------------
*Page 2* *Sayfa 2*
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Document MT0512P.A Belge MT0512P.A
Xsens Technologies BV Xsens Technologies BV
Data sheet MTi 1-series Veri sayfas MTi 1 serisi
Table of Contents indekiler
T <#2> ABLE OF <#2> C <#2> ONTENTS <#2>
...................................................................................
.................................................................
2 <#2> T <#2> yapabiliyor <#2> C <#2> indekiler <#2>
.............................................
..................................................
.................................................. <#2> ... 2
*1 <#3>* *1 <#3>*
*GENERAL INFORMATION
...................................................................................
...............................................
3 <#3>* *GENEL BLG ................................................
.................................................. <#3>*
................................ 3
1.1 <#3> 1.1 <#3>
O <#3> RDERING <#3> I <#3> NFORMATION <#3>
...................................................................................
.................................................
3 <#3> Ey <#3> RDERING <#3> ben <#3> nformation <#3>
..............................................
.................................................. <#3>
.................................... 3
1.2 <#3> 1.2 <#3>
B <#3> LOCK <#3> D <#3> IAGRAM <#3>
...................................................................................
...........................................................
3 <#3> B <#3> KLT <#3> D <#3> IAGRAM <#3>
..............................................
.................................................. <#3>
.............................................. 3
1.3 <#4> 1.3 <#4>
T <#4> YPICAL <#4> A <#4> PPLICATION <#4>
...................................................................................
......................................................
4 <#4> T <#4> YPICAL <#4> bir <#4> UYGULAMALARINA <#4>
..............................................
.................................................. <#4>
......................................... 4
1.4 <#4> 1.4 <#4>
P <#4> IN <#4> C <#4> ONFIGURATION <#4>
...................................................................................
.......................................................
4 <#4> P <#4> IN <#4> C <#4> TARAFINDAN YAPILANDIRILABLR <#4>
..............................................
.................................................. <#4>
.......................................... 4
1.5 <#5> 1.5 <#5>
P <#5> IN MAP <#5>
...................................................................................
.....................................................................
5 <#5> P <#5> HARTASINDA <#5>
...............................................
..................................................
.................................................. <#5> ..... 5
1.6 <#6> 1.6 <#6>
P <#6> IN <#6> D <#6> ESCRIPTIONS <#6>
...................................................................................
..........................................................
6 <#6> P <#6> IN <#6> D <#6> ESCRIPTIONS <#6>
..............................................
.................................................. <#6>
............................................. 6
1.7 <#6> 1.7 <#6>
P <#6> ERIPHERAL INTERFACE SELECTION <#6>
...................................................................................
.......................................
6 <#6> P <#6> pass yamas olduu belgelenmi arayz seim <#6>
..............................................
.................................................. <#6>
.......................... 6
/1.7.1 <#7>/ /1.7.1 <#7>/
/I <#7> 2 <#7> C
...................................................................................
..................................................................
7 <#7>/ /I <#7> 2 <#7> C ...............................................
..................................................
.................................................. <#7>/ .. 7
/1.7.2 <#7>/ /1.7.2 <#7>/
/SPI
...................................................................................
..................................................................
7 <#7>/ SPI .................................................
/..................................................
.................................................. 7 <#7>/
/1.7.3 <#7>/ /1.7.3 <#7>/
/UART half duplex
...................................................................................
.............................................
7 <#7>/ UART yar dubleks
...............................................
/.................................................. <#7>/
............................... 7
/1.7.4 <#8>/ /1.7.4 <#8>/
/UART full duplex with RTS/CTS flow control
...................................................................................
........
8 <#8>/ RTS / CTS ak kontrol ile UART tam dupleks
.........................................
/.................................................. 8 <#8>/
1.8 <#8> 1.8 <#8>
R <#8> ECOMMENDED EXTERNAL COMPONENTS <#8>
...................................................................................
...............................
8 <#8> R <#8> ECOMMENDED DI BLEENLER <#8>
..............................................
.................................................. <#8>
.................. 8
*2 <#9>* *2 <#9>*
*MTI 1-SERIES
ARCHITECTURE.......................................................................
......................................................
9 <#9>* MTI 1-SERS MMARLIK
.............................................
*.................................................. <#9>*
.............................. 9
2.1 <#9> 2.1 <#9>
MT <#9> I <#9> 1- <#9> SERIES CONFIGURATIONS <#9>
...................................................................................
..........................................
9 <#9> MT <#9> I <#9> 1- <#9> SERS KONFGRASYONLARI <#9>
............................................
.................................................. <#9>
............................... 9
/2.1.1 <#9>/ /2.1.1 <#9>/
/MTi-1 IMU
...................................................................................
......................................................
9 <#9>/ MTi-1 IMU ..............................................
/.................................................. <#9>/
......................................... 9
/2.1.2 <#9>/ /2.1.2 <#9>/
/MTi-2 VRU
...................................................................................
......................................................
9 <#9>/ MTi-2 VRU ..............................................
/.................................................. <#9>/
......................................... 9
/2.1.3 <#9>/ /2.1.3 <#9>/
/MTi-3 AHRS
...................................................................................
.....................................................
9 <#9>/ MTi-3 AHRS ..............................................
/.................................................. <#9>/
........................................ 9
2.2 <#10> 2.2 <#10>
S <#10> IGNAL PROCESSING PIPELINE <#10>
...................................................................................
...........................................
10 <#10> S <#10> IGNAL LEME BORU HATTI <#10>
..............................................
.................................................. <#10>
.............................. 10
/2.2.1 <#10>/ /2.2.1 <#10>/
/Strapdown integration
...................................................................................
...................................
10 <#10>/ Askya alma entegrasyonu
................................................
/.................................................. <#10>/
.................... 10
/2.2.2 <#10>/ /2.2.2 <#10>/
/XKF3 <#10> TM <#10> Sensor Fusion Algorithm
...................................................................................
......................
10 <#10>/ /XKF3 <#10> TM <#10> Sensr Fzyon Algoritma
.............................................
.................................................. <#10>/ .......... 10
/2.2.3 <#11>/ /2.2.3 <#11>/
/Frames of reference used in MTi 1-series
...................................................................................
..........
11 <#11>/ MTi 1 serisinde kullanlan referans ereveleri
.........................................
/.................................................. <#11>/ .. 11
*3 <#12>* *3 <#12>*
*3D ORIENTATION AND PERFORMANCE SPECIFICATIONS
...................................................................................
12 <#12>* 3D YNLENDRME VE PERFORMANS ZELLKLER
.............................................
...................................... 12
3.1 <#12> 3.1 <#12>
3D O <#12> RIENTATION SPECIFICATIONS <#12>
...................................................................................
......................................
12 <#12> 3D <#12> RIENTATION ZELLKLER <#12>
..............................................
.................................................. <#12>
......................... 12
3.2 <#12> 3.2 <#12>
S <#12> ENSORS SPECIFICATIONS <#12>
...................................................................................
................................................
12 <#12> S <#12> ENSORS ZELLKLER <#12>
...............................................
.................................................. <#12>
.................................. 12
*4 <#14>* *4 <#14>*
*SENSOR CALIBRATION
...................................................................................
.................................................
14 <#14>* SENSR KALBRASYONU
................................................
*.................................................. <#14>*
.................................. 14
*5 <#15>* *5 <#15>*
*SYSTEM AND ELECTRICAL SPECIFICATIONS
...................................................................................
....................
15 <#15>* SSTEM VE ELEKTRKSEL ZELLKLER
..............................................
*.................................................. <#15>* ....... 15
5.1 <#15> 5.1 <#15>
I <#15> NTERFACE SPECIFICATIONS <#15>
...................................................................................
..............................................
15 <#15> Ben <#15> ZELLKLER NTERFACE <#15>
...............................................
.................................................. <#15>
................................ 15
5.2 <#15> 5.2 <#15>
S <#15> YSTEM SPECIFICATIONS <#15>
...................................................................................
.................................................
15 <#15> S <#15> istem ZELLKLER <#15>
...............................................
.................................................. <#15>
................................... 15
5.3 <#16> 5.3 <#16>
E <#16> LECTRICAL SPECIFICATIONS <#16>
...................................................................................
.............................................
16 <#16> E <#16> LEKTRK ZELLKLER <#16>
...............................................
.................................................. <#16>
............................... 16
5.4 <#16> 5.4 <#16>
A <#16> BSOLUTE MAXIMUM RATINGS <#16>
...................................................................................
.........................................
16 <#16> Bir <#16> BSOLUTE MAKSMUM DERECELENDRME <#16>
..............................................
.................................................. <#16>
............................ 16
*6 <#17>* *6 <#17>*
*MTI 1-SERIES SETTINGS AND OUTPUTS
...................................................................................
.........................
17 <#17>* MTI 1-SERS AYARLARI VE IKTILARI
...........................................
*.................................................. <#17>*
............... 17
6.1 <#17> 6.1 <#17>
M <#17> ESSAGE STRUCTURE <#17>
...................................................................................
....................................................
17 <#17> M <#17> esaj YAPISI <#17>
...............................................
.................................................. <#17>
...................................... 17
6.2 <#18> 6.2 <#18>
O <#18> UTPUT SETTINGS <#18>
...................................................................................
........................................................
18 <#18> O <#18> k AYARLARI <#18>
...............................................
.................................................. <#18>
.......................................... 18
6.3 <#19> 6.3 <#19>
MTD <#19> ATA <#19> 2
...................................................................................
................................................................
19 <#19> MTD <#19> ATA <#19> 2
...............................................
..................................................
.................................................. 19 <#19>
6.4 <#20> 6.4 <#20>
S <#20> YNCHRONIZATION AND TIMING <#20>
...................................................................................
........................................
20 <#20> S <#20> YNCHRONIZATION VE ZAMANLAMA <#20>
..............................................
.................................................. <#20>
........................... 20
*7 <#20>* *7 <#20>*
*MAGNETIC INTERFERENCE
...................................................................................
...........................................
21 <#20>* MANYETK GRM ........................................
*.................................................. <#20>*
............................ 21
7.1 <#21> 7.1 <#21>
M <#21> AGNETIC <#21> F <#21> IELD <#21> M <#21> APPING <#21>
...................................................................................
.............................................
21 <#21> M <#21> AGNETIC <#21> F <#21> ield <#21> M <#21> APPING <#21>
............................................
.................................................. <#21>
.................................. 21
7.2 <#21> 7.2 <#21>
A <#21> CTIVE <#21> H <#21> EADING <#21> S <#21> TABILIZATION <#21>
(AHS)..............................................................................
....................................
21 <#21> Bir <#21> CTIVE <#21> H <#21> eading <#21> S <#21> TABILIZATION
<#21> (AHS) .........................................
.................................................. <#21>
....................... 21
*8 <#22>* *8 <#22>*
*PACKAGE AND HANDLING
...................................................................................
............................................
22 <#22>* AMBALAJ VE LEM
...............................................
*.................................................. <#22>*
.............................. 22
8.1 <#22> 8.1 <#22>
P <#22> ACKAGE DRAWING <#22>
...................................................................................
......................................................
22 <#22> P <#22> ACKAGE RESM <#22>
...............................................
.................................................. <#22>
........................................ 22
8.2 <#23> 8.2 <#23>
P <#23> ACKAGING <#23>
...................................................................................
...............................................................
23 <#23> P <#23> ambalajlar <#23>
................................................
.................................................. <#23>
................................................ 23
8.3 <#23> 8.3 <#23>
R <#23> EFLOW SPECIFICATION <#23>
...................................................................................
..................................................
23 <#23> R <#23> eFlow ZELLKLER <#23>
...............................................
.................................................. <#23>
.................................... 23
*9 <#24>* *9 <#24>*
*TRADEMARKS AND REVISIONS
...................................................................................
.....................................
24 <#24>* MARKALAR VE DZENLEMELER
...............................................
*.................................................. <#24>*
....................... 24
9.1 <#24> 9.1 <#24>
T <#24> RADEMARKS <#24>
...................................................................................
.............................................................
24 <#24> T <#24> RADEMARKS <#24>
................................................
.................................................. <#24>
.............................................. 24
9.2 <#24> 9.2 <#24>
R <#24> EVISIONS <#24>
...................................................................................
.................................................................
24 <#24> R <#24> EVISIONS <#24>
................................................
..................................................
.................................................. 24 <#24>
------------------------------------------------------------------------
*Page 3* Sayfa 3

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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*1 General information* 1 Genel bilgi
*1.1 Ordering Information* 1.1 Sipari Bilgisi
*Part Number* Para Numaras
*Output* *kt*
*Package* *paket*
*Packing* *Paketleme*
*Method* *Yntem*
MTi-1-8A7G6 MTI-1-8A7G6
IMU; IMU; inertial data atalet verileri
PCB, JEDEC-PLCC-28 compatible Tray, MOQ: 20 PCB, JEDEC-PLCC-28 uyumlu
Tepsi, Adedi: 20
MTi-2-8A7G6-TR20 MTI-2-8A7G6-TR20
VRU; VRU; inertial data, roll/pitch atalet verileri, rulo / perde
(referenced), yaw (unreferenced) (referans alnm), yaw (ynlendirilmemi)
PCB, JEDEC-PLCC-28 compatible Tray, MOQ: 20 PCB, JEDEC-PLCC-28 uyumlu
Tepsi, Adedi: 20
MTi-3-8A7G6-TR20 MTI-3-8A7G6-TR20
AHRS; AHRS; inertial data, roll/pitch/yaw atalet verileri, rulo / perde
/ yaw
PCB, JEDEC-PLCC-28 compatible Tray, MOQ: 20 PCB, JEDEC-PLCC-28 uyumlu
Tepsi, Adedi: 20
MTi-3-8A7G6-DK MTI-3-8A7G6-DK
Development kit for MTi 1-series, MTi 1 serisi iin gelitirme kiti,
including MTi-3-8A7G6 MTi-3-8A7G6 dahil
Single unit Tek nite
Other packaging methods available on request (>1k units). Talep
edildiinde dier ambalajlama yntemleri mevcuttur (> 1k nite). Contact
Xsens for more information. Daha fazla bilgi iin Xsens ile iletiime
gein.
*1.2 Block Diagram* 1.2 Blok Diyagram
*Figure 2: MTi 1-series module block diagram* ekil 2: MTi 1-serisi
modl blok diyagram
------------------------------------------------------------------------
*Page 4* Sayfa 4

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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*1.3 Typical Application* 1.3 Tipik Uygulama
*1.4 Pin Configuration* 1.4 Pim Konfigrasyonu
*Figure 4: Pin assignment* ekil 4: Pin yerleimi
*Figure 3: Typical application* ekil 3: Tipik uygulama
------------------------------------------------------------------------
*Page 5* Sayfa 5

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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*1.5 Pin map* 1.5 Pim haritas
The pin map depends on the peripheral selection. Pim harfi evre birim
seimine bal. See section 1.7 <#6> on how to set the peripherals.
Blmne bakn 1.7 <#6> evre birimleri ayarlamak iin nasl.
*PSEL:* *PSEL:*
*I 2 C* *I 2 C*
*PSEL:* *PSEL:*
*SPI* *SPI*
*PSEL:* *PSEL:*
*UART half duplex* UART yar dubleks
*PSEL:* *PSEL:*
*UART full duplex* UART tam duplex
*1* *1*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
*2* *2*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
*3* *3*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
*4* *4*
GND GND
GND GND
GND GND
GND GND
*5* *5*
VDD VDD
VDD VDD
VDD VDD
VDD VDD
*6* *6*
nRST nRST
nRST nRST
nRST nRST
nRST nRST
*7* *7*
VDDIO VDDIO
VDDIO VDDIO
VDDIO VDDIO
VDDIO VDDIO
*8* *8*
GND GND
GND GND
GND GND
GND GND
*9* *9*
DNC DNC
SPI_DNCS SPI_DNCS
DNC DNC
DNC DNC
*10* *10*
ADD2 1 ADD2 1
SPI_MOSI SPI_MOSI
DNC DNC
DNC DNC
*11* *11*
ADD1 ADD1
SPI_MISO SPI_MISO
DNC DNC
DNC DNC
*12* *12*
ADD0 ADD0
SPI_SCK SPI_SCK
DNC DNC
DNC DNC
*13* *13*
GND GND
GND GND
GND GND
GND GND
*14* *14*
PSEL0 PSEL0
PSEL0 PSEL0
PSEL0 PSEL0
PSEL0 PSEL0
*15* *15*
PSEL1 PSEL1
PSEL1 PSEL1
PSEL1 PSEL1
PSEL1 PSEL1
*16* *16*
SYNC_IN SYNC_IN
SYNC_IN SYNC_IN
SYNC_IN SYNC_IN
SYNC_IN SYNC_IN
*18* *18*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
*19* *19*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
*20* *20*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
*21* *21*
DNC DNC
DNC DNC
DE DE
RTS RTS
*22* *22*
DRDY DRDY
DNC DNC
nRE NRE
CTS 2 CTS 2
*23* *23*
I2C_SDA I2C_SDA
DNC DNC
UART_RX UART_RX
UART_RX UART_RX
*24* *24*
I2C_SCL I2C_SCL
DNC DNC
UART_TX UART_TX
UART_TX UART_TX
*25* *25*
GND GND
GND GND
GND GND
GND GND
*26* *26*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
*27* *27*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
*28* *28*
DNC DNC
DNC DNC
DNC DNC
DNC DNC
1 I 2 C addresses, see Table 2: <#7> List of I 2 <#7> C addresses <#7> 1
I2C adresleri, bkz : Tablo 2 <#7> Ben Listesi 2 <#7> C adresleri <#7>
2 CTS cannot be left unconnected if the interface is set to UART full
duplex. Arayz tam dubleks UARTna ayarlanrsa 2 CTS balantsz
braklamaz. If HW flow control is not used, connect to HW ak kontrol
kullanlmazsa,
GND. GND.
------------------------------------------------------------------------
*Page 6* Sayfa 6

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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*1.6 Pin Descriptions* 1.6 Pim Tanmlar
*Name* *isim*
*Type* *tip*
*Description* *Aklama*
*Power Interface* G Arayz
VDD VDD
Power G
Power supply voltage for sensing elements Alglama elemanlar iin g
kayna gerilimi
VDDIO VDDIO
Power G
Digital I/O supply voltage Dijital I / O besleme gerilimi
*Controls* *Kontroller*
PSEL0 PSEL0
Selection pins Seim pimleri
These pins determine the signal interface. Bu ineler sinyal arayzn
belirler. See table below. Aadaki tabloya bakn. Note that when the
Ne zaman
PSEL0/PSEL1 is not connected, its value is 1. When PSEL0/PSEL1 is
connected PSEL0 / PSEL1 bal deil, deeri 1'dir. PSEL0 / PSEL1 bal
olduunda
to GND, its value is 0 GND'ye, deeri 0'dr
PSEL1 PSEL1
nRST nRST
Active low reset pin, connect to VDDIO if not used Aktif dk sfrlama
pimi, kullanlyorsa VDDIO'ya balayn
ADD2 ADD2
Selection pins I 2 C address selection lines Seim pimleri I2C adres
seme hatlar
ADD1 ADD1
ADD0 ADD0
*Signal Interface* Sinyal Arabirimi
I2C_SDA I2C_SDA
I 2 C interface C arayz 2
I 2 C serial data C seri veri 2
I2C_SCL I2C_SCL
I 2 C serial clock C seri saatini 2
SPI_nCS SPI_nCS
SPI interface SPI arabirimi
SPI chip select SPI ip seme
SPI_MOSI SPI_MOSI
SPI serial data input (slave) SPI seri veri girii (baml)
SPI_MISO SPI_MISO
SPI serial data output (slave) SPI seri veri k (baml)
SPI_SCK SPI_SCK
SPI serial clock SPI seri saat
RTS RTS
UART UART
interface arayzey
Hardware flow control in UART full duplex mode (Ready-to-Send) UART tam
dupleks modunda donanm ak kontrol (Ready-to-Send)
CTS CTS
Hardware flow control in UART full duplex mode (Clear-to-Send) UART tam
duplex modunda donanm ak kontrol (Clear to Send)
nRE NRE
Receiver control signal in UART half duplex mode UART yar dupleks
modunda alc kontrol sinyali
DE DE
Transmitter control signal in UART half duplex mode UART yar dupleks
modunda verici kontrol sinyali
UART_RX UART_RX
Receiver data input Alc veri girii
UART_TX UART_TX
Transmitter data output Verici veri k
SYNC_IN SYNC_IN
Sync interface Senkronizasyon arabirimi
SYNC_IN accepts a trigger which has the following functionality,
depending on the SYNC_IN, aadaki ilevsellie sahip olan bir
tetikleyiciyi kabul eder;
configuration set in the firmware yazlmdaki yaplandrma kmesi
- It sends out the latest available data message, or - Mevcut en son
veri mesajn gnderir veya
- It adjusts the bias of the clock onboard the MTi - MTi'de saatin
nyarg ayarn yapar.
DRDY DRDY
Data ready Data ready pin indicates that data is available (SPI / I 2 C)
Veri hazr veriler hazr pim veriler olduunu gsterir (SPI / I2 C)
*1.7 Peripheral interface selection* 1.7 evresel arabirim seimi
The MTi 1-series modules have four modes of peripheral interfacing. MTi
1 serisi modllerin drt modu periferik arayze sahiptir. Only one mode
can be used simultaneously and Ayn anda yalnzca bir mod kullanlabilir ve
is determined by the state of peripheral selection pins PSEL0 and PSEL1
at startup . <#6> balangta evresel seim pimleri PSEL0 ve PSEL1
durumuna gre belirlenir . <#6> Table <#6> 1 specifies how the PSEL
Tablo <#6> 1 nasl PSEL belirtir
lines select the peripheral interface. hatlar evresel arayz seer.
Note that the module has internal pull-ups. Modln dahili pull-up'lar
olduunu unutmayn. Not connecting PSEL results in a PSEL sonularn
bir a ve
value of 1, connecting PSEL to a GND results in a value of 0. 1 deeri,
PSEL'in bir GND'ye balanmas 0 deerinde sonulanr.
*Table 1. Peripheral interface selection* Tablo 1. Periferik arayz seimi
*Interface* *arayzey*
*PSEL0* *PSEL0*
*PSEL1* *PSEL1*
I2C I2C
1 1
1 1
SPI SPI
0 0
1 1
UART half-duplex UART yar dubleks
1 1
0 0
UART full-duplex UART tam ift ynl
0 0
0 0
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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*1.7.1 I 2 C* *1.7.1 I2C*
The MTi 1-series module can be configured to act as an I 2 C slave. MTI
1 dizi modl bir I2C kle olarak hareket iin yaplandrlabilir. The
slave address is determined by the ADD0, Kle adresi ADD0,
ADD1 and ADD2 pins. ADD1 ve ADD2 pimleri. These pins are pulled-up
internally so when left unconnected the address selection defaults to Bu
pinler dahili olarak ekilir, bu nedenle balantsz brakldnda
adres seimi varsaylan olarak
ADD[0..2] = 111. ADD [0..2] = 111.
Further specifications TBC, available from November 2015. Dier
zellikler TBC, Kasm 2015 tarihinden itibaren kullanlabilir.
*Table 2. List of I 2 C addresses* *I2C adreslerinin Tablo 2. Liste*
*I 2 C address* *I2C adresi*
*ADD0* *ADD0*
*ADD1* *ADD1*
*ADD2* *ADD2*
0x1D 0x1D
0 0
0 0
0 0
0x1E 0x1E
1 1
0 0
0 0
0x28 0x28
0 0
1 1
0 0
0x29 0x29
1 1
1 1
0 0
0x68 0x68
0 0
0 0
1 1
0x69 0x69
1 1
0 0
1 1
0x6A 0x6A
0 0
1 1
1 1
0x6B /(default)/ 0x6B /(varsaylan)/
1 1
1 1
1 1
*1.7.2 SPI* 1.7.2 SPI
The MTi 1-series module can be configured to act as an SPI slave. MTi 1
serisi modl, bir SPI bamls olarak ilev grecek ekilde
yaplandrlabilir. Detailed specifications TBC, available from
Ayrntl zellikler TBC, u adresten temin edilebilir:
November 2015. Kasm 2015.
*1.7.3 UART half duplex* 1.7.3 UART yar dubleks
The MTi 1-series module can be configured to communicate over UART in
half duplex mode. MTi 1 serisi modl, yar dupleks modunda UART
zerinden iletiim kuracak ekilde yaplandrlabilir. The UART frame
UART erevesi
configuration is 8 data bits, no parity and 1 stop bit (8N1).
yaplandrma 8 veri biti, parite yok ve 1 dur biti (8N1). In addition to
the RX and TX pins the control lines nRE and RX ve TX pinlerine ek
olarak kontrol hatlar nRE ve
DE are used. DE kullanlr. These control outputs are used to drive the
TX signal on a shared medium and to drive the signal of the Bu kontrol
klar TX sinyalini paylaml bir ortamda kullanmak ve sinyalin
shared medium on the RX signal. RX sinyalinde paylalan ortam.
A typical use case for this mode is to directly drive a RS485
transceiver where the shared medium is the RS485 signal Bu mod iin
tipik bir kullanm durumu, paylalan ortamn RS485 sinyali olduu bir
RS485 alc vericisini dorudan tahrik etmektir
and nRE and DE lines control the buffers inside the transceiver. ve nRE
ve DE hatlar, telsiz iindeki tamponlar kontrol eder.
When the MTi is transmitting data on its TX pin it will raise both the
nRE and DE lines, else it will pull these lines low. MTi TX pininde veri
ilettiinde, hem nRE hem de DE hatlarn ykseltecektir, aksi takdirde
bu hatlar dk seviyeye ekecektir.
*Figure 5 Behaviour of the nRE and DE lines* ekil 5 nRE ve DE
hatlarnn davran
Note that in this mode the UART of the MTi 1-series itself is still
operating full duplex. Bu modda MTi 1 serisinin UART'nn kendisinin
hala tam dupleks alt unutulmamaldr.
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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*1.7.4 UART full duplex with RTS/CTS flow control* 1.7.4 RTS / CTS ak
kontroll UART tam dupleks
The MTi 1-series module can be configured to communicate over UART in
full duplex mode with RTS/CTS flow MTi 1 serisi modl, tam dupleks
modunda UART zerinden RTS / CTS akyla iletiim kuracak ekilde
yaplandrlabilir
control. kontrol. The UART frame configuration is 8 data bits, no parity
and 1 stop bit (8N1). UART ereve konfigrasyonu, 8 veri biti, eliksiz
ve 1 dur biti (8N1) 'dir. In addition to the RX and TX RX ve TX'ye ek
olarak
signals for data communication the RTS and CTS signals are used for
hardware flow control. veri iletiimi iin sinyaller RTS ve CTS
sinyalleri donanm ak kontrol iin kullanlr.
The CTS signal is an input for the MTi. CTS sinyali, MTi iin bir
giritir. The MTi checks the state of the CTS line at the start of every
byte it transmits. MTi ilettii her bayt banda CTS hattnn durumunu
kontrol eder.
If CTS is low the byte will be transmitted. CTS dkse, bayt aktarlr.
Otherwise transmission is postponed until CTS is lowered. Aksi halde
iletim, CTS indirilene kadar ertelenir. When during the Esnasnda
transmission of a byte the CTS signal is raised then the transmission of
that byte is completed before postponing Bir bayt iletiminde CTS sinyali
ykselirse, o baytn iletimi ertelenmeden nce tamamlanr
further output. daha fazla kt. This byte will not be retransmitted.
Bu bayt tekrar gnderilmeyecektir. This behaviour is shown in the
following image: Bu davran aadaki resimde gsterilmektedir:
*Figure 6 Data transmit behaviour under CTS* ekil 6 CTS altnda veri
iletim davran
The RTS signal is an output for the MTi. RTS sinyali, MTi iin bir
ktdr. If the RTS line is high, the MTi is busy and unable to receive
new data. RTS hatt yksekse, MTi megul ve yeni veri alamyor.
Otherwise the MTi1's UART is idle and ready to receive. Aksi halde
MTi1'in UART bota ve almaya hazr. After receiving a byte the DMA
controller of the MTi will Bir bayt aldktan sonra, MTi'nin DMA
denetleyicisi
transfer the byte to its receive FIFO. baytn alc FIFO'suna aktarn.
The RTS signal will be asserted during this transfer. Bu aktarm
srasnda RTS sinyali verilecektir. So with every byte received Bylece
her bayt alndnda
the RTS line is raised shortly like shown in the following image: RTS
hatt ksa bir sre aadaki resimde gsterildii gibi kaldrlr:
*Figure 7 RTS behaviour under data reception* ekil 7 Veri alm
altndaki RTS davran
This communication mode can be used without hardware flow control. Bu
iletiim modu, donanm ak kontrol olmadan kullanlabilir. In this
case the CTS line needs to be tied low Bu durumda, CTS hattnn dk
(GND) to make the MTi transmit. (GND) MTi iletimi yapmak iin.
*1.8 Recommended external components* 1.8 nerilen harici bileenler
*Component* *Bileen*
*Description* *Aklama*
*Typical value* *Tipik deer*
R pu R, pu
I 2 C pull-up resistor I2C ykseltme direnci
2.7 k 2,7 k
R PSEL0 / R PSEL1 R PSEL0 / R PSEL1
Interface selection resistors Arabirim seme direnleri
Up to 5k 5k'a kadar
Notes: Notlar:
- R pu is only needed when the MTi-1 is configured for I 2 C interface -
MTI-1 I2C ara-yz iin yaplandrlm, R pu sadece ihtiya vardr
- R PSEL is only required when interface is not I 2 C. If the interface
does not need to be switched, R PSEL0 and - arayz, 2 C deildir, R
PSEL sadece gerekli arayz R PSEL0 ve ak olmas gerekir yoksa
R PSEL1 can be connected directly to GND. R, PSEL1 GND dorudan
balanabilir.
*Figure 8: External components (I 2 C interface)* *ekil 8: harici
bileenleri (I2C ara-yz)*
*Figure 9: External components (UART interface)* ekil 9: Harici
bileenler (UART arabirimi)
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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*2 MTi 1-series architecture* 2 MT1 1 serisi mimari
This section discusses the MTi 1-series architecture Bu blm, MTi 1
serisi mimariyi tartyor
including the various configurations and the signal eitli
yaplandrmalar ve sinyal de dahil olmak zere
processing pipeline. ileme hatt.
*2.1 MTi 1-series configurations* 2.1 MTi 1 serisi yaplandrmalar
The MTi 1-series is a fully-tested self-contained MTi 1 serisi, tamamen
test edilmi, kendi kendine yeten
module that can 3D output orientation data (Euler 3D kt ynlendirme
verileri (Euler) modl
angles (roll, pitch, yaw), rotation matrix (DCM) and alar (rulo, adm,
yaw), dn matrisi (DCM) ve
quaternions), orientation and velocity increments (q kuaterniyonlar),
oryantasyon ve hz art (q
and v) and sensors data (acceleration, rate of turn, ve v) ve
sensrler verileri (hzlanma, dn hz,
magnetic field). manyetik alan). The MTi 1-series module is available
MTi 1 serisi modl mevcuttur
as an Inertial Measurement Unit (IMU), Vertical Bir Atalet lm Birimi
(IMU) olarak, Dikey
Reference Unit (VRU) and Attitude and Heading Referans Birimi (VRU) ve
Tutum ve Balk
Reference System (AHRS). Referans Sistemi (AHRS). Depending on the Bal
olarak
product, output options may be limited to sensors data rn, kt
seenekleri sensrler verileri ile snrl olabilir
and/or unreferenced yaw. ve / veya ynlendirilmemi yaw'dur.
All MTi's feature a 3D accelerometer/gyroscope Tm MTi'lerde 3B
ivmeler / jiroskop
combo-sensor, a magnetometer, a high-accuracy combo-sensr,
manyetometre, yksek doruluk
crystal and a low-power MCU. kristal ve dk gl bir MCU. The MCU
coordinates MCU koordinatlarn
the synchronization and timing of the various sensors, eitli
sensrlerin senkronizasyonu ve zamanlamas,
it applies calibration models (eg temperature kalibrasyon modellerini
uygular (rn. scaklk
modules) and output settings and runs the sensor modller) ve kt
ayarlarn yapar ve sensr altrr
fusion algorithm. fzyon algoritmas. The MCU also generates output MCU
da kt retir
messages according to the proprietary XBus tescilli XBus'a gre mesajlar
communication protocol. iletiim protokol. The messages and the data
Mesajlar ve veriler
output are fully configurable, so that the MTi 1-series k tamamen
konfigre edilebilir, bylece MTi 1-serisi
limits the load, and thus power consumption, on the yk ve dolaysyla
g tketimini snrlar.
application processor. uygulama ilemcisi.
*2.1.1 MTi-1 IMU* 2.1.1 MTi-1 IMU
The MTi-1 module is an Inertial Measurement Unit MTi-1 modl bir Atalet
lm Birimi'dir
(IMU) that outputs 3D rate of turn, 3D acceleration and (IMU), 3D dn
hz, 3D hzlanma ve
3D magnetic field. 3B manyetik alan. The MTi-1 also outputs coning and
MTi-1 ayrca koni ve
sculling compensated orientation increments and dengelenmi oryantasyon
artlar ve
velocity increments (q and v) from its hz artlar (q ve v)
AttitudeEngine TM . AttitudeEngine TM. Advantages over a gyroscope- Bir
jiroskop zerinde avantajlar-
accelerometer combo-sensor are the inclusion of ivmeler kombinasyon
sensr,
synchronized magnetic field data, on-board signal senkronize manyetik
alan verileri, yerleik sinyal
processing and the easy-to-use communication ileme ve kullanm kolay
iletiim
protocol. protokol. Moreover, the testing and calibration Dahas, test
ve kalibrasyon
performed by Xsens result in a robust and reliable Xsens tarafndan
gerekletirilen salam ve gvenilir bir sonu
sensor module, that can be integrated within a short sensr modl, ksa
bir sre ierisinde entegre edilebilir
time frame. zaman aral. The signal processing pipeline and the Sinyal
ileme hatt ve
suite of output options allow access to the highest k seeneklerinin
paketi en yksek
possible accuracy at any bandwidth, limiting the load herhangi bir bant
geniliinde olas doruluk, yk snrlama
on the application processor. uygulama ilemcisinde.
*2.1.2 MTi-2 VRU* 2.1.2 MTi-2 VRU
The MTi-2 is a 3D vertical reference unit (VRU). MTi-2, bir 3B dikey
referans birimi (VRU). Its Onun
orientation algorithm (XKF3 TM ) outputs 3D orientation ynlendirme
algoritmas (XKF3 TM) 3D ynn verir
data with respect to a gravity referenced frame: drift- yer ekimi
referans erevesine gre veri: srklenme-
free roll, pitch and unreferenced yaw. serbest rulo, adm ve
tanmlanmam yaw. In addition, it Buna ek olarak,
outputs calibrated sensor data: 3D acceleration, 3D kalibre edilmi
sensr verileri ktlar: 3D ivme, 3D
rate of turn and 3D earth-magnetic field data. dn oran ve 3D
toprak-manyetik alan verileri. All Herey
modules of the MTi 1-series are also capable of MTi 1 serisinin
modlleri ayn zamanda
outputting data generated by the strapdown strapdown tarafndan retilen
verileri karma
integration algorithm (the AttitudeEngine TM outputting Entegrasyon
algoritmas (AttitudeEngine TM kts
orientation and velocity increments q and v). oryantasyon ve hz
art q ve v). The
3D acceleration is also available as so-called free 3D ivme de cretsiz
olarak adlandrlyor
acceleration which has gravity subtracted. yerekimi karlan ivme.
Although olmasna ramen
the yaw is unreferenced, though still superior to yaw'a, yine de stn
olmakla birlikte, atfta bulunulmamtr.
gyroscope integration. jiroskop entegrasyonu. With the feature Active
Aktif zellikli
Heading Stabilization (AHS, see section 7 .2) <#21> the drift Sabitleme
bal (AHS, baknz blm 7 .2) <#21> srklenme
in unreferenced yaw can be limited to 1 deg after 60 Referanssz yawda
60 dereceden sonra 1 derece ile snrlandrlabilir
minutes, even in magnetically disturbed environments. dakika, hatta
mknatsl rahatsz ortamlarda.
*2.1.3 MTi-3 AHRS* 2.1.3 MTi-3 AHRS
The MTi-3 supports all features of the MTi-1 and MTi- MTi-3, MTi-1 ve MTi-
2, and in addition is a full gyro-enhanced Attitude and 2 ve buna ek
olarak tam bir cayro gelitirilmi Tutum ve
Heading Reference System (AHRS). Balk Referans Sistemi (AHRS). It
outputs drift- Drift-
free roll, pitch and true/magnetic North referenced yaw serbest rulo,
adm ve gerek / manyetik Kuzey referansl yaw
and sensors data: 3D acceleration, 3D rate of turn, as ve sensrler
verileri: 3D hzlanma, 3D dn hz, gibi
well as 3D orientation and velocity increments (q and ayn zamanda 3D
oryantasyon ve hz artmlar (q ve
v), and 3D earth-magnetic field data. v) ve 3B toprak-manyetik alan
verileri. Free cretsiz
acceleration is also available for the MTi-3 AHRS. MTi-3 AHRS iin
hzlanma da mevcuttur.
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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*2.2 Signal processing pipeline* 2.2 Sinyal ileme hatt
The MTi 1-series is a self-contained module, so all MTi 1 serisi
bamsz bir modldr, bu yzden hepsi
calculations and processes such as sampling, coning hesaplama ve
rnekleme, koni
and sculling compensation and the Xsens XKF3 TM sculling tazminat ve
Xsens XKF3 TM ve
sensor fusion algorithm run on board. sensr fzyon algoritmas gemide
alr.
*2.2.1 Strapdown integration* 2.2.1 Askya alma entegrasyonu
The Xsens optimized strapdown algorithm Xsens'in optimize edilmi
strapdown algoritmas
(AttitudeEngine TM ) performs high-speed dead- (AttitudeEngine TM)
yksek hzl sokan gerekletirir
reckoning calculations at 1 kHz allowing accurate Hesaplamalar 1 kHz'de
hesaba katarak doru
capture of high frequency motions. Yksek frekansl hareketlerin
yakalanmas. This approach Bu yaklam
ensures a high bandwidth. yksek bant genilii salar. Orientation and
velocity Ynlendirme ve hz
increments are calculated with full coning and sculling artlar tam
konik ve krekle hesaplanr
compensation. tazminat. At an output data rate of up to 100 Hz, 100 Hz'e
kadar kt veri hznda,
no information is lost, yet the output data rate can be hibir bilgi
kaybolmaz, ancak kt veri hz
configured low enough for systems with limited snrl sistemler iin
yeterince dk yaplandrlm
communication bandwidth. iletiim bant genilii. These orientation and
Bu oryantasyon ve
velocity increments are suitable for any 3D motion Herhangi bir 3B
hareketi iin hz art uygundur
tracking algorithm. izleme algoritmas. Increments are internally time-
Artlar dahili olarak zaman-
synchronized with the magnetometer data. manyetometre verileri ile
senkronize edilir.
*2.2.2 XKF3 TM Sensor Fusion Algorithm* *2.2.2 XKF3 TM Sensr Fzyon
Algoritma*
XKF3 is a sensor fusion algorithm, based on Extended XKF3, Geniletilmi
Modl temel alan bir sensr fzyon algoritmasdr.
Kalman Filter framework that uses 3D inertial sensor 3D atalet sensrn
kullanan Kalman Filtre erevesi
data (orientation and velocity increments) and 3D veri (ynlendirme ve
hz art) ve 3D
magnetometer, also known as '9D' to optimally Optimum olarak "9D" olarak
da bilinen manyetometre
estimate 3D orientation with respect to an Earth fixed sabitlenmi bir
Dnya'ya gre 3B oryantasyonunu tahmin edin
frame. erevesi.
XKF3 takes the orientation and velocity increments XKF3 oryantasyon ve
hz artmlarn alr
together with the magnetic field updates and fuses this manyetik alan
gncellemeleri ile birlikte ve bunu sigortalar.
to produce a stable orientation (roll, pitch and yaw) istikrarl bir
ynlendirme (rulo, adm ve yaw)
with respect to the earth fixed frame. toprak sabit ereveye gre.
The XKF3 sensor fusion algorithm can be processed XKF3 sensr fzyon
algoritmas ilenebilir
with filter profiles. Filtre profilleri ile. These filter profiles
contain Bu filtre profilleri
predefined filter parameter settings suitable for iin nceden tanml
filtre parametre ayarlar
different user application scenarios. farkl kullanc uygulama
senaryolar.
The following filter profiles are available: Aadaki filtre profilleri
mevcuttur:

/*General*/ suitable for most applications. /*Genel*/ - ou uygulama
iin uygun.
Supported by the MTi-3 module. MTi-3 modl tarafndan desteklenir.

/*Dynamic*/ assumes that the motion is highly /*Dinamik*/ - Hareket
derece olduunu varsayar
dynamic. dinamik. Supported by the MTi-3 module. MTi-3 modl tarafndan
desteklenir.

/*High_mag_dep*/ heading corrections rely /*High_mag_dep*/ - bal
dzeltmeler bel
on the magnetic field measured. llen manyetik alan zerinde. To be
used Kullanlacak olan
when magnetic field is homogeneous. manyetik alan homojen olduunda.
Supported by the MTi-3 module. MTi-3 modl tarafndan desteklenir.

/*Low_mag_dep*/ heading corrections are /*Low_mag_dep*/ - dzeltmeler
vardr bal
less dependent on the magnetic field manyetik alana daha az baml
measured. lt. Heading is still based on Balk yine de dayanmaktadr.
magnetic field, but more distortions are manyetik alan, ancak daha fazla
bozulma var
expected with less trust being placed on daha az gvenle konulmas
bekleniyor
magnetic measurements. manyetik lmler. Supported by the Tarafndan
desteklenmektedir.
MTi-3 module. MTi-3 modl.

/*VRU_general*/ Roll and pitch are the /*VRU_general*/ - Roll ve zift
vardr
referenced to the vertical (gravity), yaw is dikey (yer ekimi), yaw
determined by stabilized dead-reckoning, stabilize l hesaba katlarak
belirlenen,
referred to as Active Heading Stabilization Aktif Hedef stikrar olarak
adlandrlan
(AHS) which significantly reduces heading (AHS) nemli lde azaltr
balk
drift, see also section 7. <#21> 2. Consider using ayrca baknz Blm,
srklenmeye 7. <#21> 2. kullanmay dnn
VRU_general in environments that have a VRU_general bir ortamda
heavily disturbed magnetic field. ar rahatsz manyetik alan. The
VRU_general filter profile is the only filter VRU_general filtre profili
tek filtredir
profile available for the MTi-2-VRU, also MTi-2-VRU iin kullanlabilir
profil
supported by the MTi-3 module MTi-3 modl tarafndan desteklenmektedir
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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*2.2.3 Frames of reference used in MTi 1-series* 2.2.3 MTi 1 serisinde
kullanlan referans ereveleri
The MTi 1-series module uses a right-handed coordinate system as the
basis of the sensor of frame. MTi 1 serisi modl erevenin sensrnn
temeli olarak bir sa elli koordinat sistemi kullanr.
The following data is outputted in corresponding reference coordinate
systems: Aadaki veriler karlk gelen referans koordinat
sistemlerinde kmaktadr:
*Data* *Veri*
*Symbol* *sembol*
*Reference coordinate system* Referans koordinat sistemi
Acceleration Hzlanma
a x , a y , a z bir x, y, z
Sensor-fixed Sensr sabit
Rate of turn Dn oran
x , y , z X, y z
Sensor-fixed Sensr sabit
Magnetic field Manyetik alan
m x , m y , m z m x, m, y, m z
Sensor-fixed Sensr sabit
Free acceleration Serbest ivme
a x , a y , a z bir x, y, z
Local Tangent Plane (LTP), default ENU Yerel Teet Dzlem (LTP),
varsaylan EN
Velocity increment Hz art
v x , v y , v z v x v y v z
Local Tangent Plane (LTP), default ENU Yerel Teet Dzlem (LTP),
varsaylan EN
Orientation increment q 0 , q 1 , q 2 , q 3 Ynlendirme art AQ 0,
AQ 1, AQ 2, AQ 3
Local Tangent Plane (LTP), default ENU Yerel Teet Dzlem (LTP),
varsaylan EN
Orientation Oryantasyon
Euler angles, quaternions or rotation matrix Local Tangent Plane (LTP),
default ENU Euler alar, kuaterniyonlar veya dnme matrisi Yerel Teet
Dzlemi (LTP), varsaylan EN
Local Tangent Plane (LTP) is a local linearization of the Ellipsoidal
Coordinates (Latitude, Longitude, Altitude) in the Yerel Teet Dzlem
(LTP), Ellipsoidal Koordinatlarn (Enlem, Boylam, Rakm) yerel olarak
dorusallatrlmasdr.
WGS-84 Ellipsoid. WGS-84 Elipsoid.
It is straightforward to apply a rotation matrix to the MTi, so that the
velocity and orientation increments, free MTi'ye bir dnme matrisi
uygulamak aktr, bylece hz ve yn artlar, serbest
acceleration and the orientation output is output using that coordinate
frame. hzlanma ve oryantasyon kts, o koordinat erevesini
kullanarak kt olur. The default reference coordinate system
Varsaylan referans koordinat sistemi
is East-North-Up (ENU) and the MTi 1-series has predefined output
options for North-East-Down (NED) and North- Dou-Kuzey-Yukar (ENU) ve
MTi 1-serisinin Kuzey-Dou-Aa (NED) ve Kuzey-
West-Up (NWU). West-Up (NWU). Any arbitrary alignment can be entered.
Herhangi bir rasgele hizalama girilebilir. These orientation resets have
effect on all outputs that are Bu ynlendirme sfrlamalar, tm
ktlar zerinde etkili olur.
by default outputted with an ENU reference coordinate system. ENU
referans koordinat sistemi ile ktlar.
*z* *z*
*x* *x*
*y* *y*
*Figure 10: Default sensor fixed coordinate system for the MTi 1-series
module* ekil 10: MTi 1 serisi modl iin varsaylan sensr sabit
koordinat sistemi
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Document MT0512P.A Belge MT0512P.A
Xsens Technologies BV Xsens Technologies BV
Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*3 3D Orientation and performance specifications* 3 3D Ynlendirme ve
performans zellikleri
*3.1 3D Orientation specifications* 3.1 3D Ynlendirme zellikleri
*Table 3. Orientation specifications* Tablo 3. Ynlendirme
spesifikasyonlar
*Parameter* *Parametre*
*Typ* *Typ*
*Unit* *birim*
*Comments* *Yorumlar*
Roll/pitch Static Rulo / perde Statik
0.75 0.75
deg
Dynamic Dinamik
1.0 1.0
deg
Yaw rotadan kmak
(heading) (balk)
Static/dynamic, Dinamik / Statik
Magnetic field referenced Manyetik alan bavurdu
2.0 2.0
deg
MTi-3 AHRS only in a homogenous magnetic field Sadece homojen bir
manyetik alanda MTi-3 AHRS
and a filter profile using magnetic field as ve manyetik alan
kullanarak bir filtre profili
reference. referans.
*VRU_general* filter profile *VRU_general* filtre profili
(unreferenced yaw) (ynlendirilmemi yaw)
<1 <1
deg after sonra deg
60 min 60 dak
Active Heading Stabilization (AHS) feature. Aktif Hedef stikrar (AHS)
zellii. See Grmek
section 7.2 <#21> for more information. blm 7.2 <#21> daha fazla bilgi
iin bkz.
Output data rate kt veri hz
0-100 0-100
Hz Hz
Accuracy and latency independent of output data kt verisinden
bamsz doruluk ve gecikme
rate. oran. Output data rate may be any integer divider kt veri hz
herhangi bir tam say blc olabilir
of 100 Hz or may be triggered by an external 100 Hz'dir veya bir harici
pulse (SYNC_IN) darbe (SYNC_IN)
*3.2 Sensors specifications 3* *3.2 Sensrler zellikler 3*
*Table 4. Gyroscope specifications* Tablo 4. Jiroskop zellikleri
*Parameter* *Parametre*
*Min* *Min*
*Typ* *Typ*
*Max* *maksimum*
*Unit* *birim*
*Comments* *Yorumlar*
Full range Tam aralk
2000 2000
deg/s / s
Non-linearity Sigara dorusallk
0.1 0.1
% of FS FS'nin yzdesi
Sensitivity variation Duyarllk deiimi
0.05 0.05
% %
Over temperature range Ar scaklk aral
Noise density Grlt younluu
0.01 0.01
/s/Hz / s / Hz
g-sensitivity g-duyarllk
0.001 0.001
deg/s/g / s / g
In-run bias stability Yrtlm ngerilme kararll
10 10
deg/h C / s
Zero-rate output Sfr oranl kt
0.1 0.1
deg/s / s
Bias variation after calibration, bias is Kalibrasyondan sonra nyarg
deiimi, nyarg
continuously estimated by XKF3i srekli XKF3i tarafndan tahmin
edilmektedir
Bias repeatability (1 yr) nyarg tekrarlanabilirlii (1 yl)
0.5 0.5
deg/s / s
The bias is continuously estimated by XKF3i. nyarg XKF3i tarafndan
srekli olarak tahmin edilmektedir.
Bandwidth Bant genilii
180 180
Hz Hz
Natural frequency Doal frekans
26 26
kHz kHz
This is the resonating frequency of the mass Bu, ktlenin rezonant frekans
in the gyro. cayroda The higher the frequency, the Sklk arttka
higher the accuracy. doruluu arttrr.
*Table 5. Accelerometers specifications* Tablo 5. Hzlanma ler
zellikleri
*Parameter* *Parametre*
*Min* *Min*
*Typ* *Typ*
*Max* *maksimum*
*Unit* *birim*
*Comments* *Yorumlar*
Full range Tam aralk
16 16
g g
Non-linearity Sigara dorusallk
0.5 0.5
% of FS FS'nin yzdesi
Sensitivity variation Duyarllk deiimi
0.05 0.05
% %
Over temperature range Ar scaklk aral
Noise density Grlt younluu
200 200
g/Hz ug / Hz
Zero-g output Sfr-g kt
2 2
mg mg
In-run bias stability Yrtlm ngerilme kararll
0.1 0.1
mg mg
Bandwidth Bant genilii
180 180
Hz Hz
3 As Xsens continues to update the sensors on the module, these
specifications may change Xsens modlnde sensrleri gncellemeye devam
eder 3 gibi, bu zellikler deiebilir
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Document MT0512P.A Belge MT0512P.A
Xsens Technologies BV Xsens Technologies BV
Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*Table 6. Magnetometer specifications* Tablo 6. Magnetometre zellikleri
*Parameter* *Parametre*
*Min* *Min*
*Typ* *Typ*
*Max* *maksimum*
*Unit* *birim*
*Comments* *Yorumlar*
Full range Tam aralk
1.9 1.9
Gauss gaus
Non-linearity Sigara dorusallk
0.1 0.1
% of FS FS'nin yzdesi
Noise density Grlt younluu
200 200
G/Hz ug / Hz
*Table 7. Alignment specifications* izelge 7. Hizalama zellikleri
*Parameter* *Parametre*
*Typ* *Typ*
*Unit* *birim*
*Comments* *Yorumlar*
Non-orthogonality Sigara ortogonalitenin
(accelerometer) (akselerometre)
0.05 0.05
deg
Non-orthogonality Sigara ortogonalitenin
(gyroscope) (jiroskop)
0.05 0.05
deg
Non-orthogonality Sigara ortogonalitenin
(magnetometer) (manyetometre)
0.05 0.05
deg
Alignment (gyr to acc) Hizalama (gyr'dan acc'e)
0.05 0.05
deg
Alignment (mag to acc) Hizalama (acc to magic)
0.1 0.1
deg
Alignment of acc to the Acc'n
module board modl kart
0.2 0.2
deg
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Document MT0512P.A Belge MT0512P.A
Xsens Technologies BV Xsens Technologies BV
Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*4 Sensor calibration* 4 Sensr kalibrasyonu
Each MTi is individually calibrated and tested over its temperature
range. Her MTi, scaklk aralnda bireysel olarak kalibre edilir ve
test edilir. The (simplified) sensor model of the (Basitletirilmi)
sensr modeli
gyroscopes, accelerometers and magnetometers can be represented as
following: jiroskoplar, ivmeler ve manyetometreler aadaki gibi
temsil edilebilir:
= =
1 ( ) 1 (-)
s s
= sensor data of the gyroscopes, accelerometers and magnetometers in
rad/s, m/s 2 or au respectively Srasyla rad / s, m / s, 2 veya Au
jiroskop, ivme ve manyetikmetrelerde = sensr verileri
K T K T
-1 -1
= gain and misalignment matrix (temperature compensated) = kazan ve
yanl hizalama matrisi (scaklk telafisi)
u u
= sensor value before calibration (unsigned 16-bit integers from the
sensor) = kalibre ncesi sensr deeri (sensrden imzasz 16 bit tam say)
b T B-T
= bias (temperature compensated) = nyarg (scaklk telafi)
Xsens' calibration procedure calibrates for many parameters, including
bias (offset), alignment of the sensors with Xsens kalibrasyon
prosedr, nyarg (ofset), sensrlerin hizalanmas
respect to the module PCB and each other and gain (scale factor). PCB
modlne ve birbirine sayg gstererek kazan (lek faktr). All
calibration values are temperature dependent Tm kalibrasyon deerleri
scaklk bamldr
and temperature calibrated. ve kalibre edilmi scaklk. The calibration
values are stored in non-volatile memory in the MTi. Kalibrasyon
deerleri MTi'deki kalc bellee kaydedilir.
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Document MT0512P.A Belge MT0512P.A
Xsens Technologies BV Xsens Technologies BV
Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*5 System and electrical specifications* 5 Sistem ve elektriksel zellikler
*5.1 Interface specifications* 5.1 Arayz zellikleri
*Table 8. Communication interfaces* Tablo 8. letiim arabirimleri
*Interface* *arayzey*
*Min* *Min*
*Typ* *Typ*
*Max* *maksimum*
*Units* *Birimler*
I2C I2C
Host I 2 C interface I2C ara-yz Ev sahibi
speed hz
400 400
kHz kHz
SPI SPI
Host SPI Host SPI
Interface speed Arabirim hz
21 21
MHz MHz
Clock duty cycle Saat grev dngs
30 30
50 50
70 70
% %
UART UART
Baudrates Baudrates
921.6 921,6
4000 4000
kbps kbps
*Table 9. Auxiliary interfaces* Tablo 9. Yardmc arayzler
*Interface* *arayzey*
*Min* *Min*
*Max* *maksimum*
*Unit* *birim*
*Comments* *Yorumlar*
SYNC_IN SYNC_IN
V IL V, IL
0.3 * VDDIO V 0,3 * VDDIO V
Digital input voltage Dijital giri voltaj
V IH V IH
0.45 * VDDIO + 0.3 0.45 * VDDIO + 0.3
V V
Digital input voltage Dijital giri voltaj
V HYS V HYS
0.45 * VDDIO + 0.3 0.45 * VDDIO + 0.3
V V
nRST nRST
V IL V, IL
0.3 * VDDIO V 0,3 * VDDIO V
Digital input voltage Dijital giri voltaj
V IH V IH
0.45 * VDDIO + 0.3 0.45 * VDDIO + 0.3
V V
Digital input voltage Dijital giri voltaj
V HYS V HYS
0.45 * VDDIO + 0.3 0.45 * VDDIO + 0.3
V V
Generated reset retilen sfrlama
pulse duration atm sresi
20 20
s us
*5.2 System specifications* 5.2 Sistem zellikleri
*Table 10. System specifications* izelge 10. Sistem zellikleri
*Interface* *arayzey*
*Min* *Min*
*Typ* *Typ*
*Max* *maksimum*
*Comments* *Yorumlar*
Size Boyut
Width/Length En / Boy
12.0 12.1 12.2 12.0 12.1 12.2
mm aa
PLCC-28 compatible PLCC-28 uyumlu
Height Ykseklik
2.45 2.55 2.65 2.45 2.55 2.65
mm aa
Weight Arlk
0.66 0,66
gram gram
Temperature Scaklk
Operating temperature -40 alma scakl -40
+85 85
C C
Ambient temperature, non- Ortam scakl, non-
condensing youmal
Specified performance Belirtilen performans
operating temperature alma scakl
0 0
+60 60
C C
Power consumption G tketimi
44 44
mW mW
VDD 3.0V; VDD 3.0V; VDDIO 1.8V VDDIO 1.8V
Timing accuracy Zamanlama doruluu
10 10
ppm ppm
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Document MT0512P.A Belge MT0512P.A
Xsens Technologies BV Xsens Technologies BV
Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*5.3 Electrical specifications* 5.3 Elektriksel zellikler
*Table 11. Electrical specifications* Tablo 11. Elektriksel zellikler
*Min* *Min*
*Typ* *Typ*
*Max* *maksimum*
*Unit Comments* Birim Yorumlar
VDD VDD
2.16 2.16
3.45 3.45
V V
VDDIO VDDIO
1.8 1.8
VDD VDD
V V
V IL V, IL
0.3 * VDDIO V 0,3 * VDDIO V
Digital input voltage Dijital giri voltaj
V IH V IH
0.45 * VDDIO + 0.45 * VDDIO +
0.3 0.3
V V
Digital input voltage Dijital giri voltaj
V HYS V HYS
0.45 * VDDIO + 0.45 * VDDIO +
0.3 0.3
V V
Digital input voltage Dijital giri voltaj
V OL V OL
0.4 0.4
V V
Digital output voltage Dijital k voltaj
V OH V'nin OH
VDDIO - 0.4 VDDIO - 0.4
V V
Digital output voltage Dijital k voltaj
*5.4 Absolute maximum ratings* 5.4 Mutlak maksimum derece
*Min* *Min*
*Max* *maksimum*
*Unit* *birim*
*Comments* *Yorumlar*
Storage temperature Depolama scakl
-40 -40
+125 125
C C
Operating temperature alma scakl
-40 -40
+85 85
C C
VDD VDD
0.3 0.3
4.0 4.0
V V
VDDIO VDDIO
0.3 0.3
VDD + 0.5 VDD + 0.5
V V
Acceleration 4 Hzlanma 4
10,000 10.000
g g
Any axis, unpowered, for 0.2 ms Herhangi bir eksen, gsz, 0,2 ms iin
ESD protection 5 ESD korumas 5
2000 2000
V V
Human body model nsan vcudu modeli
4 This is a mechanical shock (g) sensitive device. 4 Bu mekanik bir
darbe (g) hassas bir cihazdr. Proper handling is required to prevent
damage to the part. Parann hasar grmesini nlemek iin doru kullanm
gerekir.
5 This is an ESD-sensitive device. 5 This ESD-duyarl bir aygttr.
Proper handling is required to prevent damage to the part. Parann
hasar grmesini nlemek iin doru kullanm gerekir.
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Document MT0512P.A Belge MT0512P.A
Xsens Technologies BV Xsens Technologies BV
Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*6 MTi 1-series settings and outputs* 6 MTi 1 serisi ayarlar ve klar
The MTi 1-series module uses the Xsens-proprietary Xbus protocol, which
is compatible with all Xsens Motion Tracker MTi 1 serisi modl, tm
Xsens Motion Tracker ile uyumlu olan Xsens'e zel Xbus protokoln
kullanyor
products. rnler.
*6.1 Message structure* 6.1 Mesaj yaps
The communication with the MT is done by messages which are built
according to a standard structure. MT ile iletiim, standart bir yapya
gre oluturulmu mesajlar ile yaplr. The message Mesaj
has two basic structures; ki temel yapya sahiptir; one with a standard
length and one with extended length. biri standart uzunlukta ve dieri
uzatlm uzunlukta. The standard length message has Standart uzunluk
mesaj u ekildedir:
a maximum of 254 data bytes and is used most frequently. en fazla 254
veri bayt ve en sk kullanlr. In some cases the extended length
message needs to be Baz durumlarda uzatlm uzunluk mesaj
used if the number of data bytes exceeds 254 bytes. Veri baytlarnn
says 254 bayt ayorsa kullanlr.
An MT message (standard length) contains the following fields: Bir MT
mesaj (standart uzunluk) aadaki alanlar ierir:
Xbus header Xbus bal
Preamble BID MID LEN nsz BID MID LEN
DATA VER
CHECKSUM SALAMA
An MT message (extended length) contains these fields: Bir MT mesaj
(uzatlm uzunluk) u alanlar ierir:
Preamble BID MID LEN ext Balang BID ARA LEN dahili
LEN LEN
DATA VER
CHECKSUM SALAMA
Details on the Xbus protocol message structure can be found in the MT
Low Level Communication Protocol Xbus protokolnn mesaj yaps
hakkndaki ayrntlar, MT Dk Dzeyli letiim Protokol'nde
documentation (LLCP). belgeler (LLCP).
*Field* *Alan*
*Field width* Alan genilii
*Description* *Aklama*
Preamble nsz
1 byte 1 bayt
Indicator of start of packet Pakete balama gstergesi
250 (0xFA) 250 (0xFA)
BID BID
1 byte 1 bayt
Bus identifier or Address Otobs tanmlayc veya Adres
255 (0xFF) 255 (0xFF)
MID ORTA
1 byte 1 bayt
Message identifier Ileti tanmlayc
LEN LEN
1 byte 1 bayt
For standard length message: Standart uzunluk mesaj iin:
Value equals number of bytes in DATA field. Deer, DATA alannda bayt
saysna eittir.
Maximum value is 254 (0xFE) Maksimum deer 254'tr (0xFE)
For extended length message: Uzatlm uzunluk mesaj iin:
Field value is always 255 (0xFF) Alan deeri her zaman 255 (0xFF)
EXT LEN HARC LEN
2 bytes 2 bayt
16 bit value representing the number of data bytes for Iin veri bayt
saysn temsil eden 16 bitlik deer
extended length messages. uzatlm uzunluk mesajlar. Maximum value is
2048 Maksimum deer 2048'dir.
(0x0800) (0x0800)
IND ID YAPTIM
1 byte 1 bayt
The type of indication received Alnan gsterge tr
DATA VER
(standard length) (standart uzunluk)
0 254 bytes 0 - 254 bayt
Data bytes (optional) Veri baytlar (istee bal)
DATA VER
(extended length) (uzatlm uzunluk)
255 2048 bytes 255 - 2048 bayt
Data bytes Veri baytlar
Checksum salama
1 byte 1 bayt
Checksum of message Mesajn kontrol zeti
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Data sheet MTi 1-series Veri sayfas MTi 1 serisi
*6.2 Output settings* 6.2 k ayarlar
The section below only describes the most important set of MTData2 data
messages. Aadaki blm, yalnzca MTData2 veri iletilerinin en nemli
kmesini aklamaktadr. For all messages supported by Tarafndan
desteklenen tm mesajlar iin
the MTi 1-series, refer to the MT Low Level Communication Protocol
documentation (LLCP). MTi 1 serisi, MT Dk Dzey letiim Protokol
belgelerine (LLCP) bakn.
The Output Configuration message sets the output of the device. kt
Yaplandrma iletisi aygtn ktsn ayarlar. Each data message has a
DataID which consists of Her veri mesajnda, aadakilerden oluan bir
Veri Kimlii bulunur:
a data type and a number format. bir veri tr ve bir say biimi. The
table below shows the most important MTData2 Data identifiers. The message
SetOutputconfiguration holds the DataID and the output frequency.
*SetOutputConfiguration*
MID
192 (0xC0)
DATA VER
OutputConfig (N*4 bytes)
Set the output configuration of the device.
The data is a list of maximum 32 data identifiers combined with a
desired output frequency. The response
message contains a list with the same format, but with the values
actually used by the device.
Each entry in the list contains:
*Offset*
*Value* *deer*
0 0
Data Identifier (2 bytes)
2 2
Output frequency (2 bytes)
*Group Name*
*Type Name*
*XDA type name 6*
*Hex Value*
*Timestamp*
*XDI_TimestampGroup*
Packet Counter
XDI_PacketCounter
1020
Sample Time Fine
XDI_SampleTimeFine
1060
*Orientation Data*
*XDI_OrientationGroup*
Quaternion
XDI_Quaternion
201y
Rotation Matrix
XDI_RotationMatrix
202y
Euler Angles
XDI_EulerAngles
203y
*Acceleration*
*XDI_AccelerationGroup*
Delta V (dv)
XDI_DeltaV
401y
Acceleration
XDI_Acceleration
402y
Free Acceleration
XDI_FreeAcceleration
403y
*Angular Velocity*
*XDI_AngularVelocityGroup*
Rate of Turn
XDI_RateOfTurn
802y
Delta Q (dq)
XDI_DeltaQ
803y
*Magnetic*
*XDI_MagneticGroup*
Magnetic Field
XDI_MagneticField
C02y
*Status* *durum*
*XDI_StatusGroup*
Status Word
XDI_StatusWord
E020
y: The hex value of the Format bits (see table below). The value is
formed by doing a bitwise OR of the
available fields
6 XDA: Xsens Device API. Communication protocol in C, to be used on
external processors.
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Data sheet MTi 1-series
*Field*
*Format Description*
*Short name*
Precision
0x0
Single precision IEEE 32-bit floating point number
Float32
0x1
Fixed point 12.20 32-bit number
Fp1220
0x2
Fixed point 16.32 48-bit number
Fp1632
0x3
Double precision IEEE 64-bit floating point number
Float64
Coordinate system
0x0
East-North-Up coordinate system
ENU
0x4
North-East-Down coordinate system
NED
0x8
North-West-Up
NWU
Example: the DataID for quaternions in NED coordinate system with fixed
point 16.32 number format is represented
as 0x2016.
*6.3 MTData2*
Data is represented in the MTData2 message.
*MTData2*
MID
54 (0x36)
DATA VER
DATA (length variable)
The MTData2 message contains output data according the current
OutputConfiguration. An MTData2
message consists of one or more packets, each containing a specific
output. The layout of an MTData2
message is shown below:
XBus
header
Packet #1
Packet #2
Packet #N
CS
...
Xbus Header
Pre-
amble
BID
MID
LEN
DataID
Data LEN Packet Data (Data LEN bytes)
0xFA
0xFF 0x36
..
An example data message is depicted below (explanation of the message,
divided into parts, in the table):
FA FF 36 35 10 20 02 51 BC 10 60 04 00 21 49 AF 40 10 0C 39 B9 D8 00 B7
DD 80 00 3C C9 26 98 80 30 10 3F 80
00 01 B6 ED 60 01 36 94 A0 00 36 1E 60 00 E0 20 04 00 00 00 87 A0
*Part of message (0x)*
*Meaning*
FA FF 36 35
Xbus Header with total length of message (0x35)
10 20 02 51 BC
DataID 0x1020 (Packet counter), length 0x02, data (0x51 BC)
10 60 04 00 21 49 AF
DataID 0x1060 (Sample Time fine), length 0x04, data
40 10 0C 39 B9 D8 00 B7 DD 80 00 3C C9 26 98 DataID 0x4010 (velocity
increment), length 0x0C, data
80 30 10 3F 80 00 01 B6 ED 60 01 36 94 A0 00
36 1E 60 00
DataID 0x8030 (orientation increment), length 0x10, data
E0 20 04 00 00 00 87
DataID 0xE020 (StatusWord), length 0x04, data
A0
Checksum
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Data sheet MTi 1-series
*6.4 Synchronization and timing*
The MTi 1-series modules can easily be synchronized with other sensors
or sensor systems. The MTi accepts a pulse
and can then transmit the latest available data. This SYNC_IN
functionality does not influence the accuracy of the
data as internally the MTi 1-series keeps estimating the orientation at
its maximum frequency. Acceleration data and
rate of turn data is also outputted with the shortest possible latency.
The Sync Settings are set with the SetSyncSettings message:
*SetSyncSettings*
MID
44 (0x2C)
DATA VER
Setting List (N*12 bytes)
Set the synchronization settings of the device.
*Settings*
Each setting describes either a system event that should trigger a sync
in event that should trigger a system action.
*SYNC_IN setting*
*Offset*
*(bytes)*
*Setting* *Ayar*
*Size*
*(bytes)*
*Description* *Aklama*
0 0
Function fonksiyon
1 1
Value 8: Send Latest
1 1
Line Hat
1 1
Value 2: SYNC_IN
2 2
Polarity
1 1
Which line transition to respond to. One of: Rising
Edge (1), Falling Edge (2) or Both (3)
3 3
Ignored for MTi 1-series
4 4
Skip First
2 2
The number of initial events to skip before taking
action. aksiyon.
6 6
Skip Factor
2 2
The number of events to skip after taking the
action before taking action again.
8 8
Ignored for MTi 1-series
10 10
Delay or Clock
period
2 2
Delay after receiving a sync pulse to taking action
(100s units, range [0..60000])
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Data sheet MTi 1-series
*7 Magnetic interference*
Magnetic interference can be a major source of error
for the heading accuracy of any Attitude and Heading
Reference System (AHRS). As an AHRS uses the
magnetic field to reference the dead-reckoned
orientation on the horizontal plane with respect to the
(magnetic) North, a severe and prolonged distortion in
that magnetic field will cause the magnetic reference
to be inaccurate. The MTi 1-series module has several
ways to cope with these distortions to minimize the
effect on the estimated orientation.
*7.1 Magnetic Field Mapping*
When the distortion is deterministic, ie when the
distortion moves with the MTi, the MTi can be
calibrated for this distortion this type of errors are
usually referred to as soft and hard iron distortions.
The Magnetic Field Mapping procedure compensates
for both hard-iron and soft-iron distortions.
In short, the magnetic field mapping (calibration) is
performed by moving the MTi together with the
object/platform that is causing the distortion. On an zerinde
external computer (Windows or Linux), the results are
processed and the updated magnetic field calibration
values are written to the non-volatile memory of the
MTi 1-series module. The magnetic field mapping
procedure is extensively documented in the Magnetic
Field Mapper User Manual (MT0202P), available in
the MT Software Suite.
*7.2 Active Heading Stabilization (AHS)*
It is often not possible or desirable to connect the MTi
1-series module to a high-level processor/host
system, so that the Magnetic Field Mapping procedure
is not an option. Also, when the distortion is non-
deterministic the Magnetic Field Mapping procedure
does not yield the desired result. For all these
situations, the on-board XKF3 sensor fusion algorithm
has integrated an algorithm called Active Heading
Stabilization (AHS).
The AHS algorithm delivers excellent heading tracking
accuracy. Heading tracking drift in the MTi 1-series
can be as low as 1 deg per hour, while being fully
immune to magnetic distortions.
AHS is only available in the *VRU_general* filter profile.
This filter profile is the only filter profile in the MTi-2
VRU and one of the 5 available filter profiles in the
MTi-3 AHRS.
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Data sheet MTi 1-series
*8 Package and handling*
Note that this is a mechanical shock (g) sensitive device. Proper
handling is required to prevent damage to the part.
Note that this is an ESD-sensitive device. Proper handling is required
to prevent damage to the part.
*8.1 Package drawing*
The MTi 1-series module is compatible with JEDEC PLCC28 IC-sockets.
*Figure 11: General tolerances are +/- 0.1 mm*
*Figure 12: Recommended MTi 1-series module footprint*
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Data sheet MTi 1-series
*8.2 Packaging*
The MTi 1-series module is shipped in trays. Trays are available with a
MOQ of 20 modules. A full tray contains 152
modules. modller.
*Figure 13: A tray containing 20 MTi 1-series modules*
*8.3 Reflow specification*
The moisture sensitivity level of the MTi 1-series modules corresponds
to JEDEC MSL Level 3, see also:

IPC/JEDEC J-STD-020E Joint Industry Standard: Moisture/Reflow
Sensitivity Classification for non-
hermetic Solid State Surface Mount Devices

IPC/JEDEC J-STD-033C Joint Industry Standard: Handling, Packing,
Shipping and Use of Moisture/Reflow
Sensitive Surface Mount Devices.
The sensor fulfils the lead-free soldering requirements of the
above-mentioned IPC/JEDEC standard, ie reflow
soldering with a peak temperature up to 260C. Recommended Preheat Area
(t s ) is 80-100 sec. The minimum height
of the solder after reflow shall be at least 50m. This is required for
good mechanical decoupling between the MTi 1-
series module and the printed circuit board (PCB) it is mounted on.
Assembled PCB's may *NOT* be cleaned with
*ultrasonic cleaning* .
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Data sheet MTi 1-series
*9 Trademarks and revisions*
*9.1 Trademarks*
2005-2015, Xsens Technologies BV All rights reserved. Information in
this document is subject to change without
notice. Not. Xsens, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda and
KiC are registered trademarks or trademarks of
Xsens Technologies BV and/or its parent, subsidiaries and/or affiliates
in The Netherlands, the USA and/or other
countries. lkeler. All other trademarks are the property of their
respective owners.
*9.2 Revisions*
*Revision* *Revizyon*
*Date* *tarih*
*By* *Tarafndan*
*Changes*
A bir
8 Jul 2015
MHA
Initial release
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