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 DocumentMT0100P.N

©XsensTechnologiesB.V. MTiandMTxUserManualandTechnicalDocumentation

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4.2 Orientationperformancespecification

TypicalperformancecharacteristicsofMTiandMTxorientationoutput.

DynamicRange:  allanglesin3D

AngularResolution:   0.05°

(3)

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

Repeatability:0.2°

StaticAccuracy(roll/pitch): 0.5°

StaticAccuracy(heading)

(4)

: 1.0°

DynamicAccuracy:   2°RMS

(5)

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UpdateRate:   usersettable,max120Hz

(6 )

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4.3 Orientationoutputmodes

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TheorientationascalculatedbytheMTiorMTxistheorientationofthesensor‐fixedco‐ordinatesystem(S)

with respect to a Cartesian earth‐fixed co‐ordinate system (G). The output orientation can be presented in

differentparameterizations:

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• UnitQuaternions(alsoknownasEulerparameters)

• Eulerangles

:roll,pitch,yaw(XYZEarthfixedtype,alsoknownasCardanoraerospacesequence)

• RotationMatrix(directionalcosinematrix)

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Apositiverotationisalways“right‐handed”,i.e.definedaccordingtotherighthandrule(corkscrewrule).This

meansapositiverotationisdefinedasclockwiseinthedirectionoftheaxisofrotation.

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NOTE:Thissectionisintendedtogivedetailedinformationonthedefinitionofthevariousorientationoutput

modesof theMTiand MTx. Theoutputsequence oftheelementsinthe vectors andmatricesdefined here

holdsforallinterfaceoptions(RS‐232/422/485,API,GUI).Formoredetailedinformationabouttherespective

interfacespleaserefertotheirspecificdocumentation;

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Direct ÆMTiandMTxLow‐levelCommunicationDocumentation

API  ÆMTSoftwareDevelopmentKitDocumentation

GUI  ÆMTManager

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1σstandarddeviationofzero‐meanangularrandomwalk

inhomogenousmagneticenvironment

maydependontypeofmotion

inertialdatamaxupdaterateis512Hz,hostPCprocessingallows512Hzorientationupdaterate

Pleasenotethatdueto thedefinitionofEuleranglesthere isamathematicalsingularity when thesensor‐

fixedx‐axisispointingupordownintheearth‐fixedreferenceframe(i.e.pitchapproaches±90°).Inpractice

thismeans rollandpitch isnotdefined assuch whenpitchis close to±90deg.Thissingularity isinno way

presentinthequaternionorrotationmatrixoutputmode.