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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WithOrepresentinghigherordermodelsandtemperaturemodelling,g‐sensitivitycorrections,etc.
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EachindividualMTiandMTxismodeledfortemperaturedependenceofbothgainandbiasforallsensorsand
other effects. This modeling is not represented in the simple model in the above equations, but is
implementedinthefirmware.
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ThebasicindicativeparametersintheabovemodelofyourindividualMTiorMTxcanbefoundontheMTTest
andCalibrationCertificate.
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4.5.2 Calibratedinertialand magneticdataoutputmode
Outputofcalibrated3Dlinearacceleration,3Drateofturn(gyro)and3Dmagneticfielddataisinsensor‐fixed
coordinatesystem(S).
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Theunitsofthecalibrateddataoutputareasfollows:
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Vector Unit
Acceleration m/s
2
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Angularvelocity(rateofturn) rad/s
Magneticfield a.u.(arbitraryunits)normalizedtoearthfieldstrength
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The calibrated data is “unprocessed”, i.e. only the physical calibration model is applied to the 16‐bit values
retrievedfromtheAD‐converters.Thereisnoadditionalfiltering,orothertemporalprocessingappliedtothe
data.Thebandwidthsofthesignalsareasstatedinthedatasheetandsection4.3.
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The accelerometer / rate‐of‐turn / magnetometer data can be individually dis‐ or enabled. See
SetOutputSettingsmessageinsection5.3.3.
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NOTE:Thelinear3Daccelerometersmeasureallaccelerations,includingtheaccelerationduetogravity.Thisis
inherenttoallaccelerometers.Therefore,ifyouwishtousethe3DlinearaccelerationsoutputbytheMTi/
MTxtoestimatethe“free”acceleration(i.e.2
nd
derivativeofposition)gravitymustfirstbesubtracted.
Theoutputdefinitionincalibrateddataoutputmodeis:
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MTData DATA = 
MID50(0x32)
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All data elements in DATA field are FLOATS (4 bytes) , unless specified otherwise by modifying the
OutputSettingDataFormatfield.
magZmagYmagXgyrZgyrYgyrXaccZaccYaccX