MTi 600-series IMU VRU AHRS (RTK-)GNSS/INSProduct Overview MTi-610 IMU MTi-620 VRU MTi-630 AHRS MTi-670 GNSS/INS MTi-680G RTK-GNSS/INS Calibrated Sensor Data yes yes yes yes yes (data) Roll/pitch - 0.2 0.2 0.2 0.2 Yaw - unreferenced 1.0 1.0 1.0 GNSS - - - external internal Position/Velocity - - - 1m / 0.05m/s 0.05m / 0.05m/s Form factor module module module module rugged System Specifications Module: CAN/RS232/UART Input voltage 4.5 to 24V Interfaces Rugged: CAN/RS232 Module: 340 mW Typical power consumption Sync options SyncIn, SyncOut, ClockSync Rugged: <1 W Module: IP 51 IP-rating Interface protocol Xbus, ASCII (NMEA) or CAN Rugged: IP 68 No restriction, full 360 in all axes Temperature (in use) -40 to 85 C Mounting orientation Module: PC-ABS Gyroscopes, accelerometers, Casing material Built-in self test (BIT) Rugged: Aluminum magnetometer and barometer Module: External (UBX, NMEA) Clock drift 10 ppm or external reference GNSS receiver Rugged: Internal RTK (RTCM 3.3) Output frequency 1kHz, 400 Hz SDI Sensor Specifications Gyroscopes Accelerometers Standard full range 2000 /s 10 g In-run bias stability 8 /h 15 g Bandwidth (-3 dB) 520 Hz 500 Hz Noise density g-sensitivity (calibrated) 0.001 /s/g N/A Non-orthogonality 0.05 0.05 Non-linearity 0.1% 0.1% Magnetometer Barometer Standard full range +/- 8 G 300-1250 hPa Total RMS noise 1 mG 1.2 Pa a Non-linearity 0.2% n/a Resolution 0.25 mG +/- 8 Pa (~0.5m) RTK-GNSS Receiver Specifications 184-channel GPS L1C/A L2C, GLO L1OF L2OF, PVT: 1.5m CEP Receiver type Horizontal Pos. Accuracy GAL E1B/C E5b, BDS B1l B2l, QZSS L1C/A L2C RTK: 0.05m CEP Start-up time cold start 24 s Velocity accuracy ( 30 m/s) 0.05 m/s Tracking sensitivity -167 dBm www.xsens.com