User manual

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 DocumentMT0100P.N
©XsensTechnologiesB.V. MTiandMTxUserManualandTechnicalDocumentation
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9
4 OutputSpecification
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InthischapterthevariousoutputmodesoftheMTiandMTxaredescribed.Thetwomajormodes,Orientation
outputandCalibrateddataoutput,arediscussedseparately.However,pleasenotethatthetwooutputmodes
caneasilybecombined,sothatyougetacombineddatapacketoforientationdataandinertialcalibrateddata
together,withthesametimestamp.
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4.1 Co‐ordinatesystems
4.1.1 CalibratedSensorreadings
All calibrated sensor readings (accelerations, rate of turn, earth magnetic field) are in the right handed
Cartesianco‐ordinatesystemasdefinedinfigure1.Thisco‐ordinatesystemisbody‐fixedtothedeviceandis
definedasthesensorco‐ordinatesystem(S).The3Dorientationoutputisdiscussedbelowinsection4.1.2.
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Figure2MTiandMTxwithsensor‐fixedco‐ordinatesystemoverlaid(S).
Theco‐ordinatesystemisalignedtotheexternalhousingoftheMTiandMTx.
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The aluminum base plate of the MTi is carefully aligned with the output coordinate system during the
individualfactorycalibration.Thealignmentofthebottomplaneandsidesofthealuminumbase‐platewith
respectto(w.r.t.)thesensor‐fixedoutputcoordinatesystem(S)iswithin0.1deg.
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