IMU, VRU, AHRS and GNSS/INS module

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This document provides information on the usage and technical details of the MTi 600-series modules. The MTi 600-series module (MTi-600) is a fully functional, self-contained module that is easy to design-in. The MTi-600 module can be connected to a host through RS232, CAN or UART interfaces, or through USB using the UART to USB converter (included in the MTi 600-series Development Kit). The MTi Family Reference Manual1 supplements this document. It reports generic information on the MTi 1-series and MTi 600-series, such as output definitions, algorithm details and installation tips. The MTi...

Table 2: Ordering information for 600-series modules

Figure 1: MTi 600-series module diagram The diagram in Figure 1 shows a simplified architecture of the MTi 6x0-series module. The MTi-6x0 contains a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer, barometer, a high-accuracy crystal and a low-power micro controller unit (MCU). The MTi-670 module can also accept the signals from an external GNSS receiver. The MCU coordinates the timing and synchronization of the various sensors. The module offers the possibility to use external signals in order to accurately synchronize the clock and/or outputs of the MTi-6x0 with any user application....

customized for an application’s needs and can be set to use one of various filter profiles available within the Xsens sensor fusion engine. In this way, the MTi-600 limits the load and the power consumption on the user application’s processor. The user can communicate with the module by means of three different communication interfaces; RS232, CAN and UART. Other interfaces are available using an MTi Development Kit or by using third party equipment (e.g. UART/RS232 to USB converter). 1.3 MTi 600-series product variants The MTi-6x0 module is a fully tested self-contained module available as an:...

frequency to produce a real-time data stream with device’s 3D orientation (roll, pitch and yaw) up to 400 Hz. 1.3.4 MTi-670 GNSS/INS The MTi-670 provides a GNSS/INS solution offering a position and velocity output in addition to orientation estimates. The MTi-670 uses advanced sensor fusion algorithms developed by Xsens to synchronize the inputs from the module’s on-board gyroscope, accelerometer, magnetometer and barometer, with the data from an external GNSS receiver. The raw sensor signals are combined and processed at a high frequency to produce a real-time data stream with device’s 3D position,...

2 Sensor specifications This section presents the performance and the sensor component specifications for the calibrated MTi-6x0 module. Each module has passed the Xsens calibration process individually. The Xsens calibration procedure calibrates for many parameters, including bias (offset), alignment of the sensors with respect to the module PCB and to each other, and gain (scale factor). All calibration values are temperature dependent and temperature calibrated. The calibration values are stored in the non-volatile memory of the module. In addition, some calibration parameters are continuously...

Table 6: MTi 600-series accelerometer specifications 3 As Xsens continues to update the sensors on the module, these specifications are subject to change. 4 Equivalent to 0.5 m.

3 Functional description This chapter describes the MTi-600 pinout and gives details about the supported communication interfaces. 3.1 Pin description The pin map shows the peripheral interfaces. 3.2 Peripheral interfaces The MTi 600-series module supports CAN, RS232, and UART interfaces for host communication. For more detailed information on the interfaces please refer to the MTi 600-series Hardware Integration Manual6. 5 Only available for MTi-670. Do not connect for other models. 6 Links to the latest available documentation can be found via the following link: Xsens MTi Documentation

3.2.1 CAN (Controller Area Network) A Controller Area Network (CAN bus) is a robust standard designed to allow communication between devices in applications without a host computer. The CAN interface of the MTi-600 does not include a termination resistor. It can be used in a CAN bus that already incorporates the required termination. If used in a single device connection, a 120 Ω termination resistor needs to be added between the CAN_H and CAN_L pins. 3.2.2 RS232 with RTS/CTS flow control The RS232 interface complies with the standard RS232 voltage levels. It includes hardware flow control through...

4 Signal processing and algorithms This section discusses the MTi-600 module signal processing and algorithm description. 4.1 Signal processing pipeline The MTi 600-series is a self-contained module, all calculations and processes such as sampling, coning & sculling compensation and the Xsens sensor fusion algorithm run on board. 4.1.1 Strapdown integration The Xsens optimized strapdown algorithm performs high-rate dead-reckoning calculations up to 2000 Hz allowing accurate capture of high frequency motions. This approach ensures a high bandwidth. Orientation and velocity increments are calculated...

Table 11: Filter profiles for MTi-620 and MTi-630 8 The General filter profile is only recommended for users who are looking forsimilar behaviour as the previous generation Xsens products in the typical applications suggested in the table. Using the General filter profile is not recommended for new designed applications.