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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TableofContents
1 REFERENCES.........................................................................................................................................1
2 INTRODUCTION....................................................................................................................................1
2.1 PRODUCTDESCRIPTION..................................................................................................................................1
2.1.1 MTi–miniaturegyro‐enhancedAttitudeandHeadingReferenceSensor......................................1
2.1.2 MTx–miniatureinertial3DOFOrientationTracker........................................................................1
2.2 OVERVIEWMTIANDMTXDEVELOPMENTKIT....................................................................................................2
2.2.1 Contents..........................................................................................................................................2
2.3 TYPICALUSERSCENARIOS................................................................................................................................3
2.3.1 GettingStartedwiththeMTManager............................................................................................3
2.3.2 InterfacethroughCOM‐objectAPI..................................................................................................3
2.3.3 InterfacethroughDLLAPI...............................................................................................................4
2.3.4 Directlow‐levelcommunicationwithMTiorMTx..........................................................................4
3 MTIANDMTXSYSTEMOVERVIEW........................................................................................................5
3.1 OVERVIEW................................................................................................................................................... 5
3.2 XSENSKALMANFILTERFORMTIANDMTX........................................................................................................5
3.2.1 Usingtheaccelerationofgravitytostabilizeinclination(roll/pitch)..............................................5
3.2.2 UsingtheEarthmagneticfieldtostabilizeHeading(Yaw).............................................................6
3.2.3 Initialization.....................................................................................................................................6
3.2.4 XKFScenarios..................................................................................................................................7
3.3 NOROTATIONASSUMPTIONFORXKF‐3.............................................................................................................8
4 OUTPUTSPECIFICATION.......................................................................................................................9
4.1 CO‐ORDINATESYSTEMS................................................................................................................................... 9
4.1.1 CalibratedSensorreadings..............................................................................................................9
4.1.2 Orientationco‐ordinatesystem....................................................................................................10
4.1.3 North‐East‐Downoptionalaerospaceco‐ordinatesystemdefinitions..........................................11
4.2 ORIENTATIONPERFORMANCESPECIFICATION.....................................................................................................12
4.3 ORIENTATIONOUTPUTMODES.......................................................................................................................12
4.3.1 Quaternionorientationoutputmode............................................................................................13
4.3.2 Euleranglesorientationoutputmode..........................................................................................13
4.3.3 RotationMatrixorientationoutputmode....................................................................................15
4.4 CALIBRATEDDATAPERFORMANCESPECIFICATION...............................................................................................16
4.5 CALIBRATEDDATAOUTPUTMODE...................................................................................................................17
4.5.1 Physicalsensormodel...................................................................................................................17
4.5.2 Calibratedinertialandmagneticdataoutputmode.....................................................................18
4.5.3 Un‐calibratedrawoutputmode....................................................................................................19
4.6 RESETOFOUTPUTORREFERENCECO‐ORDINATESYSTEMS....................................................................................19
4.6.1 Outputwithrespecttonon‐defaultcoordinateframes................................................................19
4.6.2 Arbitraryalignment.......................................................................................................................20
4.6.3 Headingreset................................................................................................................................21
4.6.4 Objectreset...................................................................................................................................21
4.6.5 Alignmentreset.............................................................................................................................22
4.7 TIMESTAMPOUTPUT....................................................................................................................................22
4.8 TESTANDCALIBRATIONCERTIFICATE...............................................................................................................22
5 BASICCOMMUNICATION....................................................................................................................24
5.1 INTRODUCTION...........................................................................................................................................24
5.2 STATES......................................................................................................................................................24