Table of Contents
List of references ...........................................................................5
1Introduction.............................................................................. 6
2Getting Started ......................................................................... 7
2.1 Starter set................................................................................................. 7
2.2 Hardware .................................................................................................. 7
2.2.1 Xsens DOT ........................................................................................... 7
2.2.2 LED status ........................................................................................... 8
2.2.3 Charger ............................................................................................... 8
2.2.4 Body straps and accessories................................................................... 9
2.3 Software ................................................................................................... 9
2.3.1 Supported platforms ............................................................................. 9
2.3.2 Choose your software............................................................................ 9
2.4 Tips for best practice .................................................................................10
2.4.1 Magnetic distortion...............................................................................10
2.4.2 Cleaning method..................................................................................11
2.4.3 Storage ..............................................................................................11
3Xsens DOT Overview ............................................................... 12
3.1 Strapdown integration................................................................................12
3.2 Sensor fusion algorithm .............................................................................12
3.3 Xsens DOT sensor state transition ...............................................................13
3.3.1 Power on ............................................................................................13
3.3.2 Advertisement .....................................................................................13
3.3.3 Connection..........................................................................................13
3.3.4 Measurement ......................................................................................14
3.3.5 Power saving.......................................................................................14
3.3.6 Power off ............................................................................................14
3.4 Magnetic Field Mapper ...............................................................................14
3.5 Firmware Update.......................................................................................15
3.5.1 Firmware upgrade................................................................................15
3.5.2 Firmware downgrade............................................................................15
4Output Specifications .............................................................. 16
4.1 Coordinate systems ...................................................................................16
4.1.1 Sensor coordinate system .....................................................................16
4.1.2 Orientation coordinate system ...............................................................16
4.1.3 Heading reset......................................................................................17
4.2 Sensors data outputs .................................................................................18
