MTI mwf 用户手册.pdf

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1 Introduction

1.1 Product Description

1.1.1 MTi-G – miniature GPS/INS

1.2 Overview MTi-G Development Kit

Quick start - Different ways of interfacing to the MTi-G

1.3.1 Getting Started with the MT Manager

1.3.2 Interface through COM-object API

1.3.3 Interface through DLL API

1.3.4 Direct low-level communication with MTi-G

2 MTi-G System Overview

2.1 Architecture Overview

2.2 Xsens Kalman Filter for MTi-G

2.2.1 Dead reckoning using inertial sensors

2.2.2 Position and orientation correction using GPS

2.2.3 Altitude correction using a static pressure sensor

2.2.4 Heading observability

2.2.5 Handling of GPS Outages

2.2.6 XKF Scenarios

2.3 Limitations

3 Installation and Operation

3.1 Installation

3.1.1 Hardware Setup

3.1.2 First use

3.2 Normal operating procedure

3.3 GPS antenna positioning with respect to MTi-G

3.4 Placement considerations

3.4.1 Transient accelerations during GPS outages

3.4.2 Vibrations

3.4.3 Magnetic materials and magnets

3.4.4 Atmospheric pressure

3.5 RF interference and reflections and GPS antenna placement

3.5.1 RF interference

3.5.2 Reflections

4 Output Specification

4.1 Co-ordinate system definitions

4.1.1 Default MTi-G co-ordinate system definitions

4.1.2 Default MTi-G body fixed co-ordinate system

4.1.3 Locally tangent plane Euclidian linearized coordinate system - LTP

4.1.4 Default definition of G and S

4.1.5 True North vs. Magnetic North

4.1.6 North East Down optional MTi-G co-ordinate system definitions

4.1.7 Linearization errors and relation WGS84 and LTP

4.2 Performance specification

4.3 Orientation output modes

4.3.1 Quaternion orientation output mode

4.3.2 Euler angles orientation output mode

4.3.3 Rotation Matrix orientation Output Mode

4.4 Position and Velocity Output Mode

4.5 Status Byte (BIT)

4.6 Calibrated data performance specification

Calibrated data output mode

4.7.1 Physical sensor model

4.7.2 Calibrated inertial and magnetic data output mode

4.8 RAW Data Output Modes

4.8.1 RAW inertial sensor data Output Mode

4.8.2 GPS PVT data Output Mode

4.9 Reset of output or reference co-ordinate systems

4.9.1 Output with respect to non-default coordinate frames

4.9.2 Arbitrary Object alignment

4.9.3 Object reset

4.10 Timestamp output

4.11 MTi-G clock bias estimation to UTC

4.12 Test and Calibration Certificate

5 MT communication protocol

5.1 Introduction

5.2 MT Device States

5.3 MT Messages

5.3.1 Message structure

5.3.2 Message usage

5.3.3 Common messages

5.4 Communication Timing

5.5 Triggering & synchronization

5.5.1 MTi-G triggers external devices

5.6 Internal clock accuracy

5.7 Default Serial Connection Settings

5.7.1 General definitions for binary data

6 Physical Specifications

6.1 Physical sensor overview

6.2 Physical properties overview

6.2.1 MTi-G physical specifications overview

6.3 Power supply

6.4 Physical interface specifications

6.4.1 USB-serial data and power cables overview

6.4.2 Pin and wire color definitions MTi-G-28A##G## (MTi-G RS-232, standard version)

6.4.3 Additional interface specifications

6.5 Housing mechanical specifications

6.5.1 Dimensions MTi-G

6.6 Physical location of Origin of the MTi-G

6.7 GPS antenna electrical and mechanical specifications

6.7.1 Not using the default Wi-sys WS3910 antenna

7 Important notices

7.1 Environmental Operating Conditions

7.2 FCC specific operating instructions

7.3 Safety instructions

Absolute maximum ratings

7.5 Maintenance

7.5.1 Cleaning

7.6 Warranty and liability

7.7 CE Declaration of Conformity for the MT devices

7.8 FCC Declaration of Conformity for the MT devices

7.9 CE Declaration of Conformity for the USB converters

7.10 FCC Declaration of Conformity for the USB converters

7.11 Power supply considerations for conductive HF emission

7.12 Customer Support

MTi-G User Manual and Technical Documentation Document MT0137P, Revision G, 27 May 2009 Xsens Technologies B.V. phone +31 88 97367 00 fax +31 88 97367 01 email info@xsens.com internet www.xsens.com

Revisions Revision Date A B C D E F G October 20 2007 April 1 2008 By PSL PSL July 1 2008 PSL August 8 2008 October 31 2008 MMI RGI February 2, 2009 PSL May 27, 2009 MHA Changes First version. Various editorial updates. Removed section on using MT Manager, please refer to MT Manager User Manual Added Origin of MTi‐G, section 6.6 Updated performance generation devices Updated to include new device type with 18g acc range Various editorial changes and additions Added and updated DoC Various editorial changes and additions specification for new Operating temperature range modified Added FCC DoC and CE DoC for the USB converters Updated product specification for MTi‐G’s with Device ID higher than 00501000. Added marine scenario specification Added Test & Calibration certificate explanation Added timing specification Added considerations for placement and laptop use Changed Raw GPS to GPS PVT Reworked section on co‐ordinate systems definitions Minor updates New corporate design © 2007‐2009, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens is a registered trademark of Xsens Technologies B.V. MTi and MTx are trademarks of sens Technologies B.V. X © Xsens Technologies B.V. Document MT0137P.G MTi‐G User Manual and Technical Documentation ii

Table of Contents 1 3 2.3 3.1 3.1.1 3.1.2 1.3.1 1.3.2 1.3.3 1.3.4 2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 2.2.6 INTRODUCTION .................................................................................................................................... 1 1.1 PRODUCT DESCRIPTION .................................................................................................................................. 1 1.1.1 MTi‐G – miniature GPS/INS ............................................................................................................. 1 1.2 OVERVIEW MTI‐G DEVELOPMENT KIT ............................................................................................................... 3 1.3 QUICK START ‐ DIFFERENT WAYS OF INTERFACING TO THE MTI‐G ............................................................................ 4 Getting Started with the MT Manager ............................................................................................ 4 Interface through COM‐object API .................................................................................................. 4 Interface through DLL API ............................................................................................................... 4 Direct low‐level communication with MTi‐G ................................................................................... 5 2 MTI‐G SYSTEM OVERVIEW .................................................................................................................... 5 2.1 ARCHITECTURE OVERVIEW ............................................................................................................................... 5 2.2 XSENS KALMAN FILTER FOR MTI‐G ................................................................................................................... 6 Dead reckoning using inertial sensors ............................................................................................. 6 Position and orientation correction using GPS ................................................................................ 6 Altitude correction using a static pressure sensor ........................................................................... 8 Heading observability ...................................................................................................................... 8 Handling of GPS Outages ................................................................................................................ 9 XKF Scenarios ................................................................................................................................ 10 LIMITATIONS ............................................................................................................................................... 12 INSTALLATION AND OPERATION ......................................................................................................... 13 INSTALLATION ............................................................................................................................................. 13 Hardware Setup............................................................................................................................. 13 First use ......................................................................................................................................... 14 3.2 NORMAL OPERATING PROCEDURE ................................................................................................................... 15 3.3 GPS ANTENNA POSITIONING WITH RESPECT TO MTI‐G ....................................................................................... 16 3.4 PLACEMENT CONSIDERATIONS ........................................................................................................................ 17 Transient accelerations during GPS outages ................................................................................. 17 3.4.1 3.4.2 Vibrations ...................................................................................................................................... 17 3.4.3 Magnetic materials and magnets ................................................................................................. 17 Atmospheric pressure .................................................................................................................... 18 3.4.4 3.5 RF INTERFERENCE AND REFLECTIONS AND GPS ANTENNA PLACEMENT .................................................................... 18 3.5.1 RF interference .............................................................................................................................. 18 3.5.2 Reflections ..................................................................................................................................... 19 OUTPUT SPECIFICATION ..................................................................................................................... 20 4.1 CO‐ORDINATE SYSTEM DEFINITIONS ................................................................................................................. 20 Default MTi‐G co‐ordinate system definitions............................................................................... 20 Default MTi‐G body fixed co‐ordinate system ............................................................................... 21 Locally tangent plane Euclidian linearized coordinate system ‐ LTP ............................................. 22 Default definition of G and S ......................................................................................................... 22 True North vs. Magnetic North ..................................................................................................... 23 North East Down optional MTi‐G co‐ordinate system definitions ................................................. 23 Linearization errors and relation WGS84 and LTP ......................................................................... 24 4.2 PERFORMANCE SPECIFICATION ....................................................................................................................... 27 4.3 ORIENTATION OUTPUT MODES ....................................................................................................................... 28 4.3.1 Quaternion orientation output mode ............................................................................................ 29 Euler angles orientation output mode .......................................................................................... 30 4.3.2 4.3.3 Rotation Matrix orientation Output Mode .................................................................................... 31 Document MT0137P.G MTi‐G User Manual and Technical Documentation 4.1.1 4.1.2 4.1.3 4.1.4 4.1.5 4.1.6 4.1.7 4 © Xsens Technologies B.V. iii

4.7.1 4.7.2 4.9.1 4.9.2 4.9.3 4.4 POSITION AND VELOCITY OUTPUT MODE ......................................................................................................... 32 4.5 STATUS BYTE (BIT) ...................................................................................................................................... 33 4.6 CALIBRATED DATA PERFORMANCE SPECIFICATION ............................................................................................... 33 4.7 CALIBRATED DATA OUTPUT MODE ................................................................................................................... 34 Physical sensor model ................................................................................................................... 34 Calibrated inertial and magnetic data output mode ..................................................................... 35 4.8 RAW DATA OUTPUT MODES ........................................................................................................................ 36 RAW inertial sensor data Output Mode ........................................................................................ 36 GPS PVT data Output Mode .......................................................................................................... 37 4.9 RESET OF OUTPUT OR REFERENCE CO‐ORDINATE SYSTEMS .................................................................................... 38 Output with respect to non‐default coordinate frames ................................................................ 38 Arbitrary Object alignment ........................................................................................................... 38 Object reset ................................................................................................................................... 39 4.10 TIMESTAMP OUTPUT ............................................................................................................................... 40 4.11 MTI‐G CLOCK BIAS ESTIMATION TO UTC ..................................................................................................... 40 4.12 TEST AND CALIBRATION CERTIFICATE .......................................................................................................... 41 5 MT COMMUNICATION PROTOCOL ...................................................................................................... 42 5.1 INTRODUCTION ........................................................................................................................................... 42 5.2 MT DEVICE STATES ...................................................................................................................................... 42 5.3 MT MESSAGES ........................................................................................................................................... 44 5.3.1 Message structure ......................................................................................................................... 44 5.3.2 Message usage .............................................................................................................................. 44 5.3.3 Common messages ........................................................................................................................ 46 5.4 COMMUNICATION TIMING............................................................................................................................. 50 5.5 TRIGGERING & SYNCHRONIZATION .................................................................................................................. 52 5.5.1 MTi‐G triggers external devices ..................................................................................................... 52 5.6 INTERNAL CLOCK ACCURACY ........................................................................................................................... 53 5.7 DEFAULT SERIAL CONNECTION SETTINGS .......................................................................................................... 54 5.7.1 General definitions for binary data ............................................................................................... 54 PHYSICAL SPECIFICATIONS .................................................................................................................. 55 6.1 PHYSICAL SENSOR OVERVIEW ......................................................................................................................... 55 6.2 PHYSICAL PROPERTIES OVERVIEW .................................................................................................................... 55 6.2.1 MTi‐G physical specifications overview ......................................................................................... 55 6.3 POWER SUPPLY ........................................................................................................................................... 56 6.4 PHYSICAL INTERFACE SPECIFICATIONS ............................................................................................................... 56 USB‐serial data and power cables overview ................................................................................. 56 Pin and wire color definitions MTi‐G‐28A##G## (MTi‐G RS‐232, standard version) ..................... 57 Additional interface specifications ................................................................................................ 58 6.5 HOUSING MECHANICAL SPECIFICATIONS ........................................................................................................... 59 Dimensions MTi‐G ......................................................................................................................... 60 6.6 PHYSICAL LOCATION OF ORIGIN OF THE MTI‐G .................................................................................................. 61 6.7 GPS ANTENNA ELECTRICAL AND MECHANICAL SPECIFICATIONS .............................................................................. 62 Not using the default Wi‐sys WS3910 antenna ............................................................................. 63 6.7.1 IMPORTANT NOTICES ......................................................................................................................... 64 7.1 ENVIRONMENTAL OPERATING CONDITIONS ...................................................................................................... 64 7.2 FCC SPECIFIC OPERATING INSTRUCTIONS .......................................................................................................... 64 7.3 SAFETY INSTRUCTIONS .................................................................................................................................. 65 7.4 ABSOLUTE MAXIMUM RATINGS ....................................................................................................................... 65 7.5 MAINTENANCE ............................................................................................................................................ 65 6.4.1 6.4.2 6.4.3 6.5.1 4.8.1 4.8.2 6 7 © Xsens Technologies B.V. Document MT0137P.G MTi‐G User Manual and Technical Documentation iv

7.5.1 Cleaning ......................................................................................................................................... 65 7.6 WARRANTY AND LIABILITY ............................................................................................................................. 66 7.7 CE DECLARATION OF CONFORMITY FOR THE MT DEVICES .................................................................................... 67 7.8 FCC DECLARATION OF CONFORMITY FOR THE MT DEVICES .................................................................................. 68 7.9 CE DECLARATION OF CONFORMITY FOR THE USB CONVERTERS ............................................................................ 69 FCC DECLARATION OF CONFORMITY FOR THE USB CONVERTERS...................................................................... 70 7.10 POWER SUPPLY CONSIDERATIONS FOR CONDUCTIVE HF EMISSION .................................................................... 71 7.11 7.12 CUSTOMER SUPPORT ............................................................................................................................... 72 © Xsens Technologies B.V. Document MT0137P.G MTi‐G User Manual and Technical Documentation v

Introduction 1 The MTi‐G is an integrated GPS and Inertial Measurement Unit (IMU) with a Navigation and Attitude and Heading Reference System (AHRS) processor. The MTi‐G is based on MEMS inertial sensors and a miniature GPS receiver and also includes additional aiding sensors; a 3D magnetometer and a static pressure sensor. The MTi‐G delivers unprecedented performance for its size, weight, cost and low complexity in use. The MTi‐G is designed to be relatively robust and is very flexible, providing a wide range of interface options, as well as advanced settings for specific usage scenarios. This documentation describes the use, basic communication interfaces, performance specifications, physical specifications and usage guidelines of the MTi‐G. The MTi‐G is part of a family of inertial Motion Trackers from Xsens Technologies B.V. The product line also features the MTi and MTx, both miniature MEMS based inertial measurement units with integrated 3D magnetometers, embedded signal processing and digital output. 1.1 Product Description 1.1.1 MTi‐G – miniature GPS/INS The MTi‐G is an integrated GPS and MEMS Inertial Measurement Unit with a Navigation and Attitude and Heading Reference System processor. The internal low‐power signal processor runs a real‐time Xsens Kalman Filter (XKF) providing inertial enhanced 3D position and velocity estimates. The MTi‐G also provides drift‐free, GPS enhanced, 3D orientation estimates, as well as calibrated 3D acceleration, 3D rate of turn, 3D earth‐ magnetic field data and static pressure (barometer). The MTi‐G is an excellent measurement unit for navigation and control of vehicles and other objects. Fields of use robotics aerospace autonomous vehicles • • • • marine industry • automotive applications Features • real‐time computation of inertial enhanced position/velocity and GPS enhanced attitude/heading on embedded DSP built‐in 50 channel Global Position System (GPS) receiver1 ‐160 dBm tracking sensitivity high immunity to GPS interference (jamming) Time to first GPS fix < 1s (hot start) • • • • • GALILEO‐L1 compatible when signals become available (firmware update required) • • • accurate full 360 degrees 3D orientation output (Attitude and Heading) 3D acceleration, 3D rate of turn and 3D earth‐magnetic field data static pressure sensor (barometer) 1 MTi‐G’s with Device ID’s (DID) higher than 00501000 have a 50 channel GPS L1 receiver prepared for GALILEO compatibility. Please refer to revision E or earlier for documentation and specification of devices with lower DID’s. © Xsens Technologies B.V. Document MT0137P.G MTi‐G User Manual and Technical Documentation 1

high update rate (120 Hz on embedded DSP, 512 Hz inertial data only) • • UTC referenced output • • • • • • • • • compact design low weight ultra‐low power consumption various digital output modes all solid state miniature MEMS inertial sensors inside individually calibrated for temperature, 3D misalignment and sensor cross‐sensitivity built‐in test (BIT) feature antenna fault detection external active antenna status detection circuit © Xsens Technologies B.V. Document MT0137P.G MTi‐G User Manual and Technical Documentation 2

1.2 Overview MTi‐G Development Kit Contents MTi‐G Development Kit • MTi‐G miniature GPS/INS (MTi‐G‐28A##G##) • GPS antenna (ANT) • Device individual Calibration Certificate • A letter with your individual software license code. • USB‐serial data and power cable, 3 meters • MTi‐G Quick Setup Sheet • MTi‐G User Manual and Technical Documentation [MT0137P] • MT Software Development Kit CD‐ROM o MT Low level communication Documentation PDF [MT0101P] o MTi‐G Quick Setup PDF o MT SDK setup Xsens WHQL USB driver MT Manager XsensCMT.DLL • COM‐object Level 4 • DLL C‐interface XsensCMTstatic.LIB Documentation CMT Source files (C++) Example source code (MATLAB) • MTi‐G User Manual and Technical Documentation [MT0137P] • MT Low level communication Documentation [MT0101P] • MT Magnetic Field Mapper Documentation [MT0202P] • CMT doxygen HTML documentation NOTE: the most recent version of the software, source code and documentation can always be downloaded on the support section of www.xsens.com. When updating the firmware in your MTi‐G, please make sure to use the latest Firmware Updater (as part of the MT SDK) and the latest firmware, which are all available at our website www.xsens.com. Not using the up‐to‐date Firmware and/or Firmware Updater can render your sensor inoperable in which case the sensor may need to be returned to Xsens for recovery. © Xsens Technologies B.V. Document MT0137P.G MTi‐G User Manual and Technical Documentation 3

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