Data sheet MTi 1-series 3D AHRS/VRU/IMU module Document MT0512P, Revision A, 8 Jul 2015 Features Description The MTi 1-series is a module outputting 3D orientation, Full-featured AHRS on 12.1 x 12.1 mm module 3D rate of turn, 3D accelerations, and 3D magnetic Roll/pitch accuracy (dynamic) 1.0 deg field, depending on the product configuration. It is available as an Inertial Measurement Unit (IMU), Heading accuracy 2.0 deg Vertical Reference Unit (VRU) or Attitude and Heading Minimal requirements on host processor Reference System (AHRS). Uniform interface over product lifetime This fully-functional self-contained module is easy to o No hardware/software interface changes design in with limited hardware components to be added. The fully documented, industry-standard o No EOL communication protocol allows for customization of the Always best-in-class inertial sensors incorporated data message in terms of data, frequency and output format. Signals are fully processed onboard, requiring Industry-leading signal processing pipeline very little resources from the host and is very well suited TM (AttitudeEngine ) with vibration-rejection for applications in simple MCU-operated environments. 2 Robust and accurate orientation algorithm The host can read-out the data over SPI, I C or UART. TM (XKF3 ) With a roll/pitch accuracy of 1.0 RMS and yaw API-compatible with all Xsens Motion Trackers accuracy of 2 RMS under dynamic conditions, the TM output is excellent for control and stabilization of any o Drivers and examples on ARM mbed object and navigation of e.g. unmanned vehicles. Low power (45 mW 3.0V) Applications Product MTi-1 MTi-2 MTi-3 Output IMU VRU AHRS Miniature aerial vehicles Motion data Heavy machinery/agriculture Robotics, pedestrian dead-reckoning Magnetic field Industrial grade VR/AR, HMDs and handheld Roll/pitch devices Heading tracking Related Resources www.xsens.com/MTi-1-series Referenced yaw MTi 1-series DK User Manual (MT0513P) MT Low Level Communication Protocol Documentation (MT0101P) MTi White Paper: Next generation Xsens Motion Trackers for Industrial applications Figure 1: MTi 1-series www.xsens.com Document MT0512P.A Xsens Technologies B.V. Data sheet MTi 1-series Table of Contents TABLE OF CONTENTS .................................................................................................................................................... 2 1 GENERAL INFORMATION .................................................................................................................................. 3 1.1 ORDERING INFORMATION .................................................................................................................................... 3 1.2 BLOCK DIAGRAM .............................................................................................................................................. 3 1.3 TYPICAL APPLICATION ......................................................................................................................................... 4 1.4 PIN CONFIGURATION .......................................................................................................................................... 4 1.5 PIN MAP ........................................................................................................................................................ 5 1.6 PIN DESCRIPTIONS ............................................................................................................................................. 6 1.7 PERIPHERAL INTERFACE SELECTION .......................................................................................................................... 6 2 1.7.1 I C ..................................................................................................................................................... 7 1.7.2 SPI ..................................................................................................................................................... 7 1.7.3 UART half duplex ................................................................................................................................ 7 1.7.4 UART full duplex with RTS/CTS flow control ........................................................................................... 8 1.8 RECOMMENDED EXTERNAL COMPONENTS .................................................................................................................. 8 2 MTI 1-SERIES ARCHITECTURE............................................................................................................................. 9 2.1 MTI 1-SERIES CONFIGURATIONS ............................................................................................................................. 9 2.1.1 MTi-1 IMU ......................................................................................................................................... 9 2.1.2 MTi-2 VRU ......................................................................................................................................... 9 2.1.3 MTi-3 AHRS ........................................................................................................................................ 9 2.2 SIGNAL PROCESSING PIPELINE .............................................................................................................................. 10 2.2.1 Strapdown integration ...................................................................................................................... 10 TM 2.2.2 XKF3 Sensor Fusion Algorithm ......................................................................................................... 10 2.2.3 Frames of reference used in MTi 1-series ............................................................................................. 11 3 3D ORIENTATION AND PERFORMANCE SPECIFICATIONS ................................................................................... 12 3.1 3D ORIENTATION SPECIFICATIONS ......................................................................................................................... 12 3.2 SENSORS SPECIFICATIONS ................................................................................................................................... 12 4 SENSOR CALIBRATION .................................................................................................................................... 14 5 SYSTEM AND ELECTRICAL SPECIFICATIONS ....................................................................................................... 15 5.1 INTERFACE SPECIFICATIONS ................................................................................................................................. 15 5.2 SYSTEM SPECIFICATIONS .................................................................................................................................... 15 5.3 ELECTRICAL SPECIFICATIONS ................................................................................................................................ 16 5.4 ABSOLUTE MAXIMUM RATINGS ............................................................................................................................ 16 6 MTI 1-SERIES SETTINGS AND OUTPUTS ............................................................................................................ 17 6.1 MESSAGE STRUCTURE ....................................................................................................................................... 17 6.2 OUTPUT SETTINGS ........................................................................................................................................... 18 6.3 MTDATA2 ................................................................................................................................................... 19 6.4 SYNCHRONIZATION AND TIMING ........................................................................................................................... 20 7 MAGNETIC INTERFERENCE .............................................................................................................................. 21 7.1 MAGNETIC FIELD MAPPING ................................................................................................................................ 21 7.2 ACTIVE HEADING STABILIZATION (AHS).................................................................................................................. 21 8 PACKAGE AND HANDLING ............................................................................................................................... 22 8.1 PACKAGE DRAWING ......................................................................................................................................... 22 8.2 PACKAGING .................................................................................................................................................. 23 8.3 REFLOW SPECIFICATION ..................................................................................................................................... 23 9 TRADEMARKS AND REVISIONS ........................................................................................................................ 24 9.1 TRADEMARKS ................................................................................................................................................ 24 9.2 REVISIONS .................................................................................................................................................... 24 www.xsens.com 2 Document MT0512P.A Xsens Technologies B.V. Data sheet MTi 1-series