Xsens MTi 1 Series Manuel utilisateur
MTi 1-series User Manual
User Manual
Please visit mtidocs.xsens.com for the latest version of this document.
Created: Friday, September 16, 2022
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Table of Contents
MTi 1-series 1 ...................................................................................................................................
Datasheet 2 ..............................................................................................................................
General Information 3 ........................................................................................................
Sensor Specifications 9 ......................................................................................................
Functional Description 12 ..................................................................................................
MTi 1-series Architecture 30 ..............................................................................................
System and Electrical Specifications 41 .............................................................................
Design and Packaging 45 ...................................................................................................
Declaration of conformity 50 ..............................................................................................
DK User Manual 53 ....................................................................................................................
General Information 54 ......................................................................................................
Introduction 57 ...................................................................................................................
Getting started 60 ..............................................................................................................
Shield board 65 ..................................................................................................................
Integration Manual 78 ...............................................................................................................
General information 79 ......................................................................................................
Power supply 81 .................................................................................................................
Interfaces 83 ......................................................................................................................
Design 90 ...........................................................................................................................
Packaging 96 ......................................................................................................................
Handling 97 ........................................................................................................................
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Datasheet
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General Information
General Information
Ordering information
Identifying device functionality using the unique Device Identifier
Block diagram
This document provides information on the contents and usage of the MTi 1-series modules.
The MTi 1-series module (MTi 1-s) is a fully functional, self-contained module that is easy to
design-in. The MTi 1‑s can be connected to a host through I2C, SPI or UART interfaces.
The
Hardware Integration Manual
supplements this document. It contains notes on typical
application scenarios, recommended external components, printed circuit board (PCB) layout,
origin of measurements, stress related considerations, reference designs and handling
information.
The
MT Low Level Communication Protocol Document
provides a complete reference for the
protocol to communicate with Xsens Motion Trackers. For a better understanding of the
Synchronous Serial Protocol (discussed in Functional Description) for use with the MTi 1-s, the
advice is to read the communication protocol reference in the
MT Low Level Communication
Protocol Document
first. This document also describes the synchronization messages and
settings in detail.
Ordering information
Due to obsolescence management and continuous improvement, the MTi 1-series is
Due to obsolescence management and continuous improvement, the MTi 1-series is
subject to hardware changes, resulting in different hardware versions (v1.x, v2.x and
subject to hardware changes, resulting in different hardware versions (v1.x, v2.x and
v3.x). The tables below list the ordering part numbers for the hardware versions that
v3.x). The tables below list the ordering part numbers for the hardware versions that
are currently available (v2.x and v3.x). For an overview of differences between these
are currently available (v2.x and v3.x). For an overview of differences between these
hardware versions we refer to the migration articles on BASE.
hardware versions we refer to the migration articles on BASE.
Ordering information for MTi 1-series modules v2.x
Part
Number Output Package Packing Method
MTi-1T IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Tray of 20
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Part
Number Output Package Packing Method
MTi-2T VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-3T AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-7T GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-1C IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-2C VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-3C AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-7C GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-1R IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-2R VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-3R AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-7R GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Reel of 250
Ordering information for MTi 1-series modules v3.x
Note: "0" is a number (zero), "I" is a character (capital i).
Part Number Output Package Packing Method
MTi-1-0I-T IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-2-0I-T VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Tray of 20
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Part Number Output Package Packing Method
MTi-3-0I-T AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-7-0I-T GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-8-0I-T RTK GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 20
MTi-1-0I-C IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-2-0I-C VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-3-0I-C AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-7-0I-C GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-8-0I-C RTK GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Tray of 100
MTi-1-0I-R IMU; inertial data PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-2-0I-R VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-3-0I-R AHRS; inertial data, roll/pitch/yaw PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-7-0I-R GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Reel of 250
MTi-8-0I-R RTK GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
PCB, JEDEC-PLCC-28
compatible
Reel of 250
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Identifying device functionality using the unique Device Identifier
Each Xsens product is marked with a unique serial device identifier referred to as the Device ID.
The Device ID is categorized per MTi product configuration in order to make it possible to
recognize the MTi by reviewing the Device ID. The second digit of the Device ID denotes the
functionality (e.g. ‘1’ for all IMU products, such as MTi-1, MTi-10 and MTi-100), the third digit
denotes the product series (6 for MTi 10-series, 7 for MTi 100-series, 8 for MTi 1-series) and the
fourth digit denotes the interface (always 8 for the MTi 1-series). The last four digits are unique
for each device; these four digits have a hexadecimal format.
Below is a list of the MTi 1-series product types with their associated Device IDs.
Device ID's for MTi 1-series
Product (MTi 1-series) Device ID HW version
MTi-1 IMU 0188xxxx Check component layout (Design and Packaging), MT
Manager Device Settings or send the
ReqHardwareVersion low-level (Xbus) command.
MTi-2 VRU 0288xxxx
MTi-3 AHRS 0388xxxx
MTi-7 GNSS/INS 0788xxxx ≥ 2.0 only. Check component layout (Design and
Packaging), MT Manager Device Settings or send the
ReqHardwareVersion low-level (Xbus) command.
MTi-8 RTK GNSS/INS 0888xxxx ≥ 3.1 only. Check component layout (Design and
Packaging), MT Manager Device Settings or send the
ReqHardwareVersion low-level (Xbus) command.
The rest of this document only caters to MTi 1-series with HW version ≥ 2.0. Refer to the MTi 1-
series Datasheet version 1.x if you have an MTi with HW version < 2.0.
Block diagram
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MTi 1-series module diagram
The above diagram shows a simplified organization of the MTi 1-series module (MTi 1-s). The
MTi 1-s contains a 3-axis gyroscope, a 3-axis accelerometer, a 3-axis magnetometer, a high-
accuracy crystal and a low-power microcontroller unit (MCU). The MTi-7/8 module can also
accept the signals from an external GNSS receiver and/or barometer. The MCU coordinates the
timing and synchronization of the various sensors. The module offers the possibility to use
external signals in order to accurately synchronize the Mti 1-s with any user application. The
MCU applies calibration models (unique to each sensor and including orientation, gain and bias
offsets, plus more advanced relationships such as non-linear temperature effects and other
higher order terms) and runs the Xsens optimized strapdown algorithm, which performs high-
rate dead-reckoning calculations at 800 Hz, allowing accurate capture of high frequency
motions and coning & sculling compensation. The Xsens sensor fusion engine combines all
sensor inputs and optimally estimates the orientation, position and velocity at an output data
rate of up to 100 Hz. The MTi 1-s is easily configurable for the outputs and, depending on the
application’s needs, can be set to use one of the filter profiles available within the Xsens sensor
fusion engine. In this way, the MTi 1-s limits the load and the power consumption on the user
application processor. The user can communicate with the module by means of three different
communication interfaces. They are I2C, SPI and UART.
Autres manuels pour MTi 1 Series
2
Ce manuel convient aux modèles suivants
27
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