MTi 1-series Data Sheet
IMU, VRU, AHRS and GNSS/INS module
Document MT0512P, Revision F, 1 July 2018
Xsens Technologies B.V.
Pantheon 6a
P.O. Box 559
7500 AN Enschede
The Netherlands
phone
fax
e-mail
internet
+31 (0)88 973 67 00
+31 (0)88 973 67 01
info@xsens.com
www.xsens.com
Xsens North America, Inc.
10557 Jefferson Blvd,
Suite C
CA-90232 Culver City
USA
phone
fax
e-mail
internet
310-481-1800
310-416-9044
info@xsens.com
www.xsens.com
Revisions
Revision
A
…
E
Date
8 Jul 2015
…
24 March 2018
By
MHA
…
AVY
Changes
Initial release
…
Document caters only to
-
MTi-1 IMU (HW version ≥ 2.0)
-
MTi-2 VRU (HW version ≥ 2.0), orientation
specification to be added in the next revision.
-
MTi-3 AHRS (HW version ≥ 2.0), orientation
specification to be added in the next revision.
-
MTi-7 GNSS/INS (New release with HW
version ≥ 2.0)
Added MTi-2 VRU and MTi-3 AHRS performance
specifications.
Updated MTi-7 performance specifications.
F
1 July 2018
AVY
© 2005-2018, Xsens Technologies B.V. All rights reserved. Information in this document is subject to
change without notice. Xsens, MVN, MotionGrid, MTi, MTx and Awinda are registered trademarks or
trademarks of Xsens Technologies B.V. and/or its parent, subsidiaries and/or affiliates in The
Netherlands, the USA and/or other countries. All other trademarks are the property of their respective
owners.
ii
© Xsens Technologies B.V.
Document MT0605P.F
MTi 1-series Data Sheet
Table of Contents
1.
GENERAL INFORMATION ............................................................................................................ 1
1.1
1.2
1.3
2.
2.1
2.2
3.
O
RDERING INFORMATION
............................................................................................................... 1
I
DENTIFYING DEVICE FUNCTIONALITY USING THE UNIQUE
D
EVICE
I
DENTIFIER
.................................... 2
B
LOCK DIAGRAM
........................................................................................................................... 3
MT
I
1-
SERIES PERFORMANCE SPECIFICATIONS
............................................................................... 4
S
ENSORS SPECIFICATIONS
............................................................................................................ 4
SENSOR SPECIFICATIONS ......................................................................................................... 4
FUNCTIONAL DESCRIPTION ....................................................................................................... 6
3.1 P
IN CONFIGURATION
..................................................................................................................... 6
3.2 P
IN MAP
....................................................................................................................................... 7
3.3 P
IN DESCRIPTIONS
........................................................................................................................ 8
3.4 P
ERIPHERAL INTERFACE SELECTION
.............................................................................................. 9
3.4.1 Peripheral interface architecture ........................................................................................ 9
3.4.2 Xbus Protocol................................................................................................................... 10
3.4.3 MTSSP Synchronous Serial Protocol .............................................................................. 10
3.4.4 I
2
C .................................................................................................................................... 13
3.4.5 SPI ................................................................................................................................... 15
3.4.6 UART half-duplex ............................................................................................................ 16
3.4.7 UART full duplex with RTS/CTS flow control ................................................................... 17
4.
MTI 1-SERIES ARCHITECTURE ................................................................................................. 18
4.1 MT
I
1-
SERIES CONFIGURATIONS
.................................................................................................. 18
4.1.1 MTi-1 IMU ........................................................................................................................ 18
4.1.2 MTi-2 VRU ....................................................................................................................... 18
4.1.3 MTi-3 AHRS ..................................................................................................................... 18
4.1.4 MTi-7 GNSS/INS.............................................................................................................. 18
4.2 S
IGNAL PROCESSING PIPELINE
..................................................................................................... 19
4.2.1 Strapdown integration ...................................................................................................... 19
4.2.2 Xsens sensor fusion algorithm for VRU and AHRS product types .................................. 19
4.2.3 Xsens sensor fusion algorithm for GNSS/INS product .................................................... 20
4.3 M
AGNETIC INTERFERENCE
........................................................................................................... 21
4.3.1 Magnetic Field Mapping ................................................................................................... 21
4.3.2 In-run Compass Calibration (ICC) ................................................................................... 21
4.3.3 Active Heading Stabilization (AHS) ................................................................................. 21
4.4 F
RAMES OF REFERENCE
.............................................................................................................. 22
5.
SYSTEM AND ELECTRICAL SPECIFICATIONS ....................................................................... 23
5.1
5.2
5.3
5.4
I
NTERFACE SPECIFICATIONS
........................................................................................................ 23
S
YSTEM SPECIFICATIONS
............................................................................................................ 24
E
LECTRICAL SPECIFICATIONS
...................................................................................................... 24
A
BSOLUTE MAXIMUM RATINGS
..................................................................................................... 25
F
OOTPRINT
................................................................................................................................. 26
T
RAY PACKAGING INFORMATION
.................................................................................................. 27
R
EEL PACKAGING INFORMATION
................................................................................................... 28
P
ACKAGE DRAWING
.................................................................................................................... 29
6.
DESIGN AND PACKAGING ........................................................................................................ 26
6.1
6.2
6.3
6.4
iii
© Xsens Technologies B.V.
Document MT0605P.F
MTi 1-series Data Sheet
List of Tables
Table 1: Ordering information for 1-series modules ................................................................................ 1
Table 1: Device ID's for MTi 1-series ...................................................................................................... 2
Table 2: Orientation performance specifications ..................................................................................... 4
Table 3: Position and velocity performance specifications (with MTi-7-DK) ........................................... 4
Table 4: Gyroscope specifications .......................................................................................................... 4
Table 5: Accelerometer specifications ..................................................................................................... 5
Table 6: Magnetometer specifications ..................................................................................................... 5
Table 7: Alignment specifications ............................................................................................................ 5
Table 8: Pin mapping for peripheral selection ......................................................................................... 7
Table 9: Pin description MTi 1-series module ......................................................................................... 8
Table 10: Peripheral interface selection .................................................................................................. 9
Table 11: List of defined opcodes ......................................................................................................... 11
Table 12: List of I
2
C addresses ............................................................................................................. 13
Table 13: Implemented I
2
C bus protocol features ................................................................................. 14
Table 14: SPI timing .............................................................................................................................. 16
Table 15: Filter profiles for VRU and AHRS .......................................................................................... 19
Table 16: Filter profiles for MTi-7 (GNSS/INS) ...................................................................................... 20
Table 17: Data output with reference coordinate system ...................................................................... 22
Table 18: Communication interfaces ..................................................................................................... 23
Table 19: Auxiliary interfaces ................................................................................................................ 23
Table 20: System specifications ............................................................................................................ 24
Table 21: Electrical specifications ......................................................................................................... 24
Table 22: Absolute maximum ratings MTi 1-series module .................................................................. 25
Table 23: MTi 1-series module generations .......................................................................................... 29
List of Figures
Figure 1: MTi 1-series module diagram ................................................................................................... 3
Figure 2: Pin configuration of the MTi 1-series module (top view) .......................................................... 6
Figure 3: Communication architecture of MTi 1-series module (simplified) ............................................ 9
Figure 4: Data flows within MTSSP ....................................................................................................... 10
Figure 5: I
2
C write message operation .................................................................................................. 14
Figure 6: Read message operation with full write transfer and full read transfer (I
2
C) ......................... 15
Figure 7: Read message transfer using a repeated start condition (I
2
C) .............................................. 15
Figure 8: SPI basic transfer ................................................................................................................... 15
Figure 9: SPI timing ............................................................................................................................... 16
Figure 10: Behaviour of the nRE and DE lines...................................................................................... 17
Figure 11: Data transmit behaviour under CTS..................................................................................... 17
Figure 12: RTS behaviour under data reception ................................................................................... 17
Figure 13: Default sensor fixed coordinate system for the MTi 1-series module .................................. 22
Figure 14: Recommended MTi 1-series module footprint ..................................................................... 26
Figure 15: MTi 1-series v1.1 dimensions and sensor locations ............................................................ 29
Figure 16: MTi 1-series v2.0 dimensions and sensor locations ............................................................ 29
Figure 17: Location PCB number on MTi 1-series module (bottom view) ............................................. 29
iv
© Xsens Technologies B.V.
Document MT0605P.F
MTi 1-series Data Sheet
1. General information
This document provides information on the contents and usage of the MTi 1-series modules. The MTi
1-series module (MTi 1-s) is a fully functional, self-contained module that is easy to design-in. The MTi
1-s can be connected to a host through I
2
C, SPI or UART interfaces.
The
Hardware Integration Manual: MTi 1-series
(MT1503) supplements this document. Notes on typical
application scenarios, recommended external components, printed circuit board (PCB) layout, origin of
measurements, stress related considerations, reference designs and handling information could be
found in the hardware integration manual.
The
MT Low Level Communication Protocol
(MT0101P) document provides a complete reference for
the protocol to communicate with Xsens Motion Trackers. For a better understanding of the
Synchronous Serial Protocol (Section 3.4.3) for use with the MTi 1-s, the advice is to read the
communication protocol reference in the
MT Low Level Communication Protocol
document first. The
communication protocol document also describes the synchronization messages and settings in detail.
Links to the latest available documentation can be found in your MT Software Suite installation folder or
via the following link:
https://xsens.com/xsens-mti-documentation
1.1
Ordering information
Table 1: Ordering information for 1-series modules
Part
Number
MTi-1T
MTi-2T
MTi-3T
MTi-7T
MTi-1R
MTi-2R
MTi-3R
MTi-7R
Output
IMU; inertial data
VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
AHRS; inertial data, roll/pitch/yaw
GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
IMU; inertial data
VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
AHRS; inertial data, roll/pitch/yaw
GNSS/INS; inertial data,
roll/pitch/yaw, velocity, position
Package
PCB, JEDEC-PLCC-28 compatible
PCB, JEDEC-PLCC-28 compatible
PCB, JEDEC-PLCC-28 compatible
PCB, JEDEC-PLCC-28 compatible
PCB, JEDEC-PLCC-28 compatible
PCB, JEDEC-PLCC-28 compatible
PCB, JEDEC-PLCC-28 compatible
PCB, JEDEC-PLCC-28 compatible
Packing Method
Tray of 20
Tray of 20
Tray of 20
Tray of 20
Reel of 250
Reel of 250
Reel of 250
Reel of 250
1
© Xsens Technologies B.V.
Document MT0605P.F
MTi 1-series Data Sheet
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